Abstract
This paper outlines a method based on the theory of artificial potential fields combined with sliding mode techniques for spacecraft maneuvers in the presence of obstacles. Guidance and control algorithms are validated with a six degree-of-freed (dof) omorbital simulator. The idea of this paper is to provide computationally efficient algorithms for real time applications, in which the combination of Artificial potential field (APF) and sliding mode control shows the ability of plan trajectories, even in the presence of external disturbances and model uncertainties. A reduced frequency of the proposed controllers and a pulse width modulation (PWM) of the thrusters are considered to verify the performance of the system. The computational performance of APF as a guidance algorithm is discussed and the algorithms are verified by simulations of a complete rendezvous maneuver. The proposed algorithm appears suitable for the autonomous, real-time control of complex maneuvers with a minimum on-board computational effort.
Highlights
Rendezvous maneuvers are a fundamental step for space exploration, and autonomous rendezvous and proximity operations have been expanded over the last decades
The novelties are related to the combination of Artificial potential field (APF) and sliding mode controller (SMC) for a complete space maneuver, in which the sliding mode controllers (SMC) design is focused on a real application: (1) reduced frequency of the controller for fuel saving, (2) pulse width modulation of thrusters, and (3) actuator models are considered
In this paper a guidance algorithm based on the theory of artificial potential fields is proposed
Summary
Rendezvous maneuvers are a fundamental step for space exploration, and autonomous rendezvous and proximity operations have been expanded over the last decades. Starting from this work in [14], a method for spacecraft maneuver with obstacles is proposed, but no control algorithms are considered and a simple dynamics is analyzed. The desired velocity and the desired attitude are defined by the APF algorithm to track the desired trajectory and avoid obstacles This interpretation of the gradient was proposed in [19], in which a sliding mode control strategy for tracking the gradient due to a artificial potential field is described. The novelties are related to the combination of APF and sliding mode controller (SMC) for a complete space maneuver, in which the SMC design is focused on a real application: (1) reduced frequency of the controller for fuel saving, (2) pulse width modulation of thrusters, and (3) actuator models are considered.
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