Planning natural repointing manoeuvres for nano-spacecraft

Maclean, Craig David and Pagnozzi, Daniele and Biggs, James (2014) Planning natural repointing manoeuvres for nano-spacecraft. IEEE Transactions on Aerospace and Electronic Systems, 50 (3). pp. 2129-2145. ISSN 0018-9251

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    Abstract

    In this paper the natural dynamics of a rigid body are exploited to plan attitude manoeuvres for a small spacecraft. By utilising the analytical solutions of the angular velocities and making use of Lax pair integration, the time evolution of the attitude of the spacecraft in a convenient quaternion form is derived. This enables repointing manoeuvres to be generated by optimising the free parameters of the analytical expressions, the initial angular velocities of the spacecraft, to match prescribed boundary conditions on the final attitude of the spacecraft. This produces reference motions which can be tracked using a simple proportional-derivative controller. The natural motions are compared in simulation to a conventional quaternion feedback controller and found to require lower accumulated torque. A simple obstacle avoidance algorithm, exploiting the analytic form of natural motions, is also described and implemented in simulation. The computational efficiency of the motion planning method is discussed.

    Creators(s): Maclean, Craig David, Pagnozzi, Daniele and Biggs, James;
    Item type:Article
    ID code:46502
    Notes:(c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
    Keywords:geometri mechanics, motion planning, nano spacecraft, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Mechanical Engineering, Aerospace Engineering, Computational Mechanics, Control and Systems Engineering
    Subjects:Technology > Mechanical engineering and machinery
    Technology > Motor vehicles. Aeronautics. Astronautics
    Department:Faculty of Engineering > Mechanical and Aerospace Engineering
    Technology and Innovation Centre > Advanced Engineering and Manufacturing
    Depositing user: Pure Administrator
    Date deposited:17 Jan 2014 15:19
    Last modified:21 Oct 2020 03:21
    URI:https://strathprints.strath.ac.uk/id/eprint/46502
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