Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight
Abstract
This paper describes a fully decentralized nonlinear control law for spinning tethered formation flight, based on exploiting geometric symmetries to reduce the original nonlinear dynamics into simpler stable dynamics. Motivated by oscillation synchronization in biological systems, we use contraction theory to prove that a control law stabilizing a single-tethered spacecraft can also stabilize arbitrary large circular arrays of spacecraft, as well as the three inline configuration. The convergence result is global and exponential. Numerical simulations and experimental results using the SPHERES testbed validate the exponential stability of the tethered formation arrays by implementing a tracking control law derived from the reduced dynamics.
Additional Information
© 2006 by the American Institute of Aeronautics and Astronautics, Inc. Presented as Paper 6589 at the AIAA Guidance, Navigation, and Control Conference, Keystone, CO, 21–24 August 2006; received 30 November 2005; revision received 15 August 2006; accepted for publication 15 August 2006. The authors would like to gratefully acknowledge the NASA Goddard Space Flight Center (Contract Monitor David Leisawitz) for both financial and technical support for the MIT-SSL and Payload Systems (PSI) SPHERES Tether program. The authors also thank the MIT SPHERES team including Danielle Adams, Alvar Saenz-Otero and Edmund Kong for the technical discussions and support. This paper also benefitted from the reviewers' invaluable suggestions.Attached Files
Published - JGCD_sjchung.pdf
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- Eprint ID
- 73106
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- CaltechAUTHORS:20161221-150412096
- NASA
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2016-12-21Created from EPrint's datestamp field
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2021-11-11Created from EPrint's last_modified field
- Caltech groups
- GALCIT