Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published August 24, 2005 | Published
Book Section - Chapter Open

SPHERES Tethered Formation Flight Testbed: Application to NASA's SPECS Mission

Abstract

This paper elaborates on theory and experiment of the formation flight control for the future space-borne tethered interferometers. The nonlinear equations of multi-vehicle tethered spacecraft system are derived by Lagrange equations and decoupling method. The preliminary analysis predicts unstable dynamics depending on the direction of the tether motor. The controllability analysis indicates that both array resizing and spin-up are fully controllable only by the reaction wheels and the tether motor, thereby eliminating the need for thrusters. Linear and nonlinear decentralized control techniques have been implemented into the tethered SPHERES testbed, and tested at the NASA MSFC's flat floor facility using two and three SPHERES configurations. The nonlinear control using feedback linearization technique performed successfully in both two SPHERES in-line configuration and three triangular configuration while varying the tether length. The relative metrology system, using the ultra sound metrology system and the inertial sensors as well as the decentralized nonlinear estimator, is developed to provide necessary state information.

Additional Information

© 2005 International Society for Optical Engineering. The authors would like to gratefully acknowledge NASA for both financial and technical support for the MITSSL and PSI SPHERES Tether program. This work has been sponsored under NASA Phase II SBIR contact (Contract No.: NNG05CA09C).

Attached Files

Published - 58990L_1.pdf

Files

58990L_1.pdf
Files (741.7 kB)
Name Size Download all
md5:8dd31156d138f861842d99ce8cfc2b57
741.7 kB Preview Download

Additional details

Created:
August 19, 2023
Modified:
January 13, 2024