کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
756482 | 896177 | 2012 | 8 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Optimal geometric motion planning for a spin-stabilized spacecraft Optimal geometric motion planning for a spin-stabilized spacecraft](/preview/png/756482.png)
A method requiring low-computational overhead is presented which generates low-torque reference motions between arbitrary orientations for a spin-stabilized spacecraft. The initial stage solves a constrained optimal control problem deriving analytical solutions for a class of smooth and feasible reference motions. Specifically, for a quadratic cost function an application of Pontryagin’s maximum principle leads to a completely integrable Hamiltonian system that is, exactly solvable in closed-form, expressed in terms of several free parameters. This is shown to reduce the complexity of a practical motion planning problem from a constrained functional optimization problem to an unconstrained parameter optimization problem. The generated reference motions are then tracked using an augmented quaternion feedback law, consisting of the sum of a proportional plus derivative term and a term to compensate nonlinear dynamics. The method is illustrated with an application to re-point a spin-stabilized agile micro-spacecraft using zero propellant. The low computational overhead of the method enhances its suitability for on-board motion generation.
Journal: Systems & Control Letters - Volume 61, Issue 4, April 2012, Pages 609–616