Pose Tracking Control for Spacecraft Proximity Operations Using the Udwadia-Kalaba Framework

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Creator: 

Pothen, Abin Alex

Date: 

2019

Abstract: 

This thesis develops an analytical dynamics-based approach for simultaneous position and orientation tracking control of a chaser spacecraft with respect to an uncontrolled target spacecraft. The control requirements are formulated as holonomic or non-holonomic constraints, which are differentiated to obtain a constraint equation linear in acceleration. Exact real-time control forces are then generated by substituting the control constraints into the Udwadia-Kalaba equation. Three major contributions are presented. Firstly, the complete six-degree-of-freedom formulation of the Udwadia-Kalaba based pose tracking controller is presented. Simulations demonstrate the achievement of the desired objectives in space. Subsequently, a planar pose tracking controller is formulated for both a single and dual chaser configuration. Simulation results highlight the planar position and orientation synchronization with respect to a spinning target. Finally, the controller is experimentally validated in the Spacecraft Proximity Operations Testbed at Carleton University. Results show that the pose tracking control objective is achieved.

Subject: 

Aerospace engineering
Artificial satellites
Space debris

Language: 

English

Publisher: 

Carleton University

Thesis Degree Name: 

Master of Applied Science: 
M.App.Sc.

Thesis Degree Level: 

Master's

Thesis Degree Discipline: 

Engineering, Aerospace

Parent Collection: 

Theses and Dissertations

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