Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft |
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| Authors: | R Bevilacqua T Lehmann M Romano |
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| Institution: | 1. Department of Mechanical, Aerospace, and Nuclear Engineering, Rensselaer Polytechnic Institute, Jonsson Engineering Center, 110 8th Street, Troy, NY 12180-3590, United States;2. Mechanical and Aerospace Engineering Department, code MAE/MR, 700 Dyer Rd., Naval Postgraduate School, Monterey, CA 93943, United States;1. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi''an, PR China;2. School of Astronautics, Northwestern Polytechnical University, Xi''an, PR China;3. Shenzhen University, Shenzhen, PR China;1. Department of Mechanical, Aerospace, and Nuclear Engineering, Rensselaer Polytechnic Institute (RPI), Troy, NY 12180, USA;2. Department of Mechanical and Aerospace Engineering, University of Florida (UF), 308 MAE-A Building, P.O. Box 116250, Gainesville, FL 32611-6250, USA;1. Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Italy;2. Mechanical and Aerospace Department, University of Florida, Gainesville, FL, United States |
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| Abstract: | This work introduces a novel control algorithm for close proximity multiple spacecraft autonomous maneuvers, based on hybrid linear quadratic regulator/artificial potential function (LQR/APF), for applications including autonomous docking, on-orbit assembly and spacecraft servicing. Both theoretical developments and experimental validation of the proposed approach are presented. Fuel consumption is sub-optimized in real-time through re-computation of the LQR at each sample time, while performing collision avoidance through the APF and a high level decisional logic. The underlying LQR/APF controller is integrated with a customized wall-following technique and a decisional logic, overcoming problems such as local minima. The algorithm is experimentally tested on a four spacecraft simulators test bed at the Spacecraft Robotics Laboratory of the Naval Postgraduate School. The metrics to evaluate the control algorithm are: autonomy of the system in making decisions, successful completion of the maneuver, required time, and propellant consumption. |
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