Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments
In this paper we study distributed control policies for spacecraft formations that draw inspiration from the simple idea of cyclic pursuit. First, we extend existing cyclic-pursuit control laws devised for single-integrator models in two dimensions to the case of double-integrator models in three di...
| Main Authors: | , , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers
2010
|
| Online Access: | http://hdl.handle.net/1721.1/60265 https://orcid.org/0000-0001-6099-0614 https://orcid.org/0000-0002-0505-1400 |
| _version_ | 1811088926533746688 |
|---|---|
| author | Ramirez, Jaime L. Pavone, Marco Frazzoli, Emilio Miller, David W. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Ramirez, Jaime L. Pavone, Marco Frazzoli, Emilio Miller, David W. |
| author_sort | Ramirez, Jaime L. |
| collection | MIT |
| description | In this paper we study distributed control policies for spacecraft formations that draw inspiration from the simple idea of cyclic pursuit. First, we extend existing cyclic-pursuit control laws devised for single-integrator models in two dimensions to the case of double-integrator models in three dimensions. In particular, we develop control laws that only require relative measurements of position and velocity with respect to the two leading neighbors in the ring topology of cyclic pursuit, and allow the spacecraft to converge to a variety of symmetric formations, including evenly spaced circular formations and evenly spaced Archimedes' spirals. Second, we discuss potential applications, including spacecraft coordination for interferometric imaging and convergence to zero-effort orbits. Finally, we present and discuss experimental results obtained by implementing the aforementioned control laws on three nanospacecraft on board the International Space Station. |
| first_indexed | 2024-09-23T14:10:07Z |
| format | Article |
| id | mit-1721.1/60265 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:10:07Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/602652022-09-28T18:59:56Z Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments Ramirez, Jaime L. Pavone, Marco Frazzoli, Emilio Miller, David W. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Frazzoli, Emilio Frazzoli, Emilio Ramirez, Jaime L. Pavone, Marco Miller, David W. In this paper we study distributed control policies for spacecraft formations that draw inspiration from the simple idea of cyclic pursuit. First, we extend existing cyclic-pursuit control laws devised for single-integrator models in two dimensions to the case of double-integrator models in three dimensions. In particular, we develop control laws that only require relative measurements of position and velocity with respect to the two leading neighbors in the ring topology of cyclic pursuit, and allow the spacecraft to converge to a variety of symmetric formations, including evenly spaced circular formations and evenly spaced Archimedes' spirals. Second, we discuss potential applications, including spacecraft coordination for interferometric imaging and convergence to zero-effort orbits. Finally, we present and discuss experimental results obtained by implementing the aforementioned control laws on three nanospacecraft on board the International Space Station. National Science Foundation (U.S.) (#0705451) National Science Foundation (U.S.) (#0705453) 2010-12-10T19:12:34Z 2010-12-10T19:12:34Z 2009-07 2009-06 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-4523-3 0743-1619 INSPEC Accession Number: 10776111 http://hdl.handle.net/1721.1/60265 Ramirez, J.L. et al. “Distributed control of spacecraft formation via cyclic pursuit: Theory and experiments.” American Control Conference, 2009. ACC '09. 2009. 4811-4817. ©2009 IEEE. https://orcid.org/0000-0001-6099-0614 https://orcid.org/0000-0002-0505-1400 en_US http://dx.doi.org/10.1109/ACC.2009.5160735 American Control Conference, 2009. ACC '09 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Ramirez, Jaime L. Pavone, Marco Frazzoli, Emilio Miller, David W. Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments |
| title | Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments |
| title_full | Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments |
| title_fullStr | Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments |
| title_full_unstemmed | Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments |
| title_short | Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments |
| title_sort | distributed control of spacecraft formation via cyclic pursuit theory and experiments |
| url | http://hdl.handle.net/1721.1/60265 https://orcid.org/0000-0001-6099-0614 https://orcid.org/0000-0002-0505-1400 |
| work_keys_str_mv | AT ramirezjaimel distributedcontrolofspacecraftformationviacyclicpursuittheoryandexperiments AT pavonemarco distributedcontrolofspacecraftformationviacyclicpursuittheoryandexperiments AT frazzoliemilio distributedcontrolofspacecraftformationviacyclicpursuittheoryandexperiments AT millerdavidw distributedcontrolofspacecraftformationviacyclicpursuittheoryandexperiments |