Cascaded Lyapunov Vector Fields for Spacecraft Relative Trajectory Tracking in Rotating Reference Frames Under Acceleration Constraints
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Methods for autonomous docking usually rely on high-dimensional or complex optimizations which are required to run in real-time. Unfortunately, it is well-known that spacecraft flight-computers are highly limited in their computational power, rendering many current methods impractical. In this work, a novel approach to autonomous docking is explored within the framework of Lyapunov vector fields. A substantial extension (herein referred to as a cascaded Lyapunov vector field) is first presented which allows the desired final trajectory to be defined in a tumbling and accelerating reference frame. The docking path constraints are satisfied by vector field constructions, and the acceleration is constrained by bounding guidance parameters. Moreover, a performance optimization technique is developed based on estimations of fuel usage and maneuver time. This novel docking method requires no in-the-loop optimizations, and therefore retains feasibility for real-time implementation. The performance of this docking technique is confirmed in simulation and in planar experiments.
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Copyright © 2021 the author(s). Theses may be used for non-commercial research, educational, or related academic purposes only. Such uses include personal study, research, scholarship, and teaching. Theses may only be shared by linking to Carleton University Institutional Repository and no part may be used without proper attribution to the author. No part may be used for commercial purposes directly or indirectly via a for-profit platform; no adaptation or derivative works are permitted without consent from the copyright owner.
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- 2021
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hough-cascadedlyapunovvectorfieldsforspacecraft.pdf | 2023-05-05 | Public | Download |