Small spacecraft formation using potential functions |
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| Institution: | 1. Wayne State University, Detroit Medical Center, Division of Cardiology, Detroit, MI 48226, USA;2. Division of Cardiology, Montefiore Medical Center, Albert Einstein College of Medicine, Bronx, NY 10467, USA;1. Centre de Recherches sur la Cognition Animale, Centre de Biologie Intégrative (CBI), Centre National de la Recherche Scientifique (CNRS), Université Paul Sabatier (UPS), 118 Route de Narbonne, F-31062 Toulouse Cedex 9, France;2. CNRS, Centre de Recherches sur la Cognition Animale, 118 Route de Narbonne, F-31062 Toulouse, France;3. BCAM – Basque Center for Applied Mathematics, Alameda Mazarredo 14, Bilbao 48009, Spain;4. AEPA Euskadi, Plaza Celestino María del Arenal 14, Bilbao 48015, Spain;5. Departamento de Matemáticas, Universidad Autónoma de Madrid, Cantoblanco, Madrid 28049, Spain |
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| Abstract: | A group of small spacecraft able to change its orbital formation through using the potential function is discussed. Spacecraft shapes, sizes, and maneuvering capabilities in general are not identical. All objects are assumed to maneuver under discrete thruster effects. A hyperbolic form of attractive potential function is then used to reduce the control intervention by using the natural orbital motion for approaching goal configuration. A superquadric repulsive potential with 3D rigid object representation is then used to have more accurate mutual sensing between objects. As spacecraft start away from their goals, the original parabolic attractive potential becomes inefficient as the continuous control force increases with distance linearly. The hyperbolic attractive potential offers good representation of the control force independent of the distance to goal, ensuring global stability as well. |
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