Planar, time-optimal, rest-to-rest slewing maneuvers of flexible spacecraft

Abstract

The control problem of time-optimal, rest-to-rest slewing of a flexible spacecraft through a large angle is considered. The flexible spacecraft is modeled as a linear, elastic, undamped, nongyroscopic system suitable for analysis of planar rotational maneuvers. Minimum-time open-loop planar maneuvers are studied. The control histories are found to be bang-bang with multiple switches in each control variable. The optimal control history is shown to have an important time symmetry property. The switching times, final time, and costates at midmaneuver satisfy a system of nonlinear algebraic equations that can be solved using a homotopy method. An upper bound on attitude error due to control spillover is obtained. This helps to determine, a priori, the number of vibrational modes that need to be actively suppressed at the final time such that a prespecified pointing accuracy is guaranteed after the maneuver has been completed. A time-optimal slewing example is discussed to demonstrate the applicability of the results.