Cascaded Lyapunov Vector Fields for Spacecraft Relative Trajectory Tracking in Rotating Reference Frames Under Acceleration Constraints

It appears your Web browser is not configured to display PDF files. Download adobe Acrobat or click here to download the PDF file.

Click here to download the PDF file.


Hough, Jeffrey Grant Wayne




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.


Engineering - Aerospace
Engineering - Mechanical




Carleton University

Thesis Degree Name: 

Master of Applied Science: 

Thesis Degree Level: 


Thesis Degree Discipline: 

Engineering, Mechanical

Parent Collection: 

Theses and Dissertations

Items in CURVE are protected by copyright, with all rights reserved, unless otherwise indicated. They are made available with permission from the author(s).