کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
697465 890371 2011 7 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Spacecraft formation reconfiguration with collision avoidance
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Spacecraft formation reconfiguration with collision avoidance
چکیده انگلیسی

In this paper we present a behavioral control solution for reconfiguration of a spacecraft formation using the Null-Space Based (NSB) concept. The solution is task based, and aims to reconfigure and maintain a rigid formation while avoiding collisions between spacecraft. A model of relative translation is derived, together with a passivity-based sliding surface controller which globally stabilizes the equilibrium point of the closed-loop system. The NSB control method is implemented by giving each task different priorities and then calculating desired velocity and a Jacobian matrix for each spacecraft and each task. The velocity vector for each task is then projected into the null-space for higher prioritized tasks to remove conflicting velocity components. Simulation results are presented, showing that each spacecraft moves into the predefined formation without breaking any rules for the higher priority tasks, and all collisions are avoided.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 47, Issue 7, July 2011, Pages 1443–1449
نویسندگان
, , ,