Optimal attitude motion planner for large slew manoeuvers using a shape-based method

Albert Caubet, James Biggs

Research output: Contribution to conferencePaper

Abstract

Small satellites, in particular Cubesats, have limited torque and power available, thus optimization of slew maneuvers may be required. However, their on-board computational resources are usually low. In this paper a computationally light optimal path planning algorithm is presented, based on a shape-based method. This technique will enable 3-axis stabilized satellites to perform torque-optimal slew maneuvers with low computational overhead, thus especially suited to small satellites. The shape-based method presented relies on a quaternion representation of the trajectory, whose components are assumed to be polynomial functions. A rationale to select the degree of the polynomials is presented. The function’s coefficients are then adjusted according to the maneuver boundary conditions, and by parametric optimization of the free coefficients, the torque is minimized. Once the trajectory is planned, a simple PD controller can track it. The results are validated using a pseudo-spectral optimal control solver, and a two-stage approach is discussed. This work also demonstrates the capacity of the shape-based method to deal with pointing constraints and multi-objective torque-time optimization.

Conference

ConferenceAIAA Guidance, Navigation and Control Conference 2013
CountryUnited States
CityBoston, Massachusetts
Period19/08/1322/08/13

Fingerprint

Torque
Satellites
Trajectories
Polynomials
Motion planning
Boundary conditions
Controllers

Keywords

  • trajectory planning
  • slew manoeuvers
  • shape-based method
  • torque control

Cite this

Caubet, A., & Biggs, J. (2013). Optimal attitude motion planner for large slew manoeuvers using a shape-based method. Paper presented at AIAA Guidance, Navigation and Control Conference 2013, Boston, Massachusetts, United States.
Caubet, Albert ; Biggs, James. / Optimal attitude motion planner for large slew manoeuvers using a shape-based method. Paper presented at AIAA Guidance, Navigation and Control Conference 2013, Boston, Massachusetts, United States.9 p.
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abstract = "Small satellites, in particular Cubesats, have limited torque and power available, thus optimization of slew maneuvers may be required. However, their on-board computational resources are usually low. In this paper a computationally light optimal path planning algorithm is presented, based on a shape-based method. This technique will enable 3-axis stabilized satellites to perform torque-optimal slew maneuvers with low computational overhead, thus especially suited to small satellites. The shape-based method presented relies on a quaternion representation of the trajectory, whose components are assumed to be polynomial functions. A rationale to select the degree of the polynomials is presented. The function’s coefficients are then adjusted according to the maneuver boundary conditions, and by parametric optimization of the free coefficients, the torque is minimized. Once the trajectory is planned, a simple PD controller can track it. The results are validated using a pseudo-spectral optimal control solver, and a two-stage approach is discussed. This work also demonstrates the capacity of the shape-based method to deal with pointing constraints and multi-objective torque-time optimization.",
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note = "AIAA Guidance, Navigation and Control Conference 2013 ; Conference date: 19-08-2013 Through 22-08-2013",

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Caubet, A & Biggs, J 2013, 'Optimal attitude motion planner for large slew manoeuvers using a shape-based method' Paper presented at AIAA Guidance, Navigation and Control Conference 2013, Boston, Massachusetts, United States, 19/08/13 - 22/08/13, .

Optimal attitude motion planner for large slew manoeuvers using a shape-based method. / Caubet, Albert; Biggs, James.

2013. Paper presented at AIAA Guidance, Navigation and Control Conference 2013, Boston, Massachusetts, United States.

Research output: Contribution to conferencePaper

TY - CONF

T1 - Optimal attitude motion planner for large slew manoeuvers using a shape-based method

AU - Caubet, Albert

AU - Biggs, James

PY - 2013/8/19

Y1 - 2013/8/19

N2 - Small satellites, in particular Cubesats, have limited torque and power available, thus optimization of slew maneuvers may be required. However, their on-board computational resources are usually low. In this paper a computationally light optimal path planning algorithm is presented, based on a shape-based method. This technique will enable 3-axis stabilized satellites to perform torque-optimal slew maneuvers with low computational overhead, thus especially suited to small satellites. The shape-based method presented relies on a quaternion representation of the trajectory, whose components are assumed to be polynomial functions. A rationale to select the degree of the polynomials is presented. The function’s coefficients are then adjusted according to the maneuver boundary conditions, and by parametric optimization of the free coefficients, the torque is minimized. Once the trajectory is planned, a simple PD controller can track it. The results are validated using a pseudo-spectral optimal control solver, and a two-stage approach is discussed. This work also demonstrates the capacity of the shape-based method to deal with pointing constraints and multi-objective torque-time optimization.

AB - Small satellites, in particular Cubesats, have limited torque and power available, thus optimization of slew maneuvers may be required. However, their on-board computational resources are usually low. In this paper a computationally light optimal path planning algorithm is presented, based on a shape-based method. This technique will enable 3-axis stabilized satellites to perform torque-optimal slew maneuvers with low computational overhead, thus especially suited to small satellites. The shape-based method presented relies on a quaternion representation of the trajectory, whose components are assumed to be polynomial functions. A rationale to select the degree of the polynomials is presented. The function’s coefficients are then adjusted according to the maneuver boundary conditions, and by parametric optimization of the free coefficients, the torque is minimized. Once the trajectory is planned, a simple PD controller can track it. The results are validated using a pseudo-spectral optimal control solver, and a two-stage approach is discussed. This work also demonstrates the capacity of the shape-based method to deal with pointing constraints and multi-objective torque-time optimization.

KW - trajectory planning

KW - slew manoeuvers

KW - shape-based method

KW - torque control

UR - http://www.aiaa.org/EventDetail.aspx?id=16566

M3 - Paper

ER -

Caubet A, Biggs J. Optimal attitude motion planner for large slew manoeuvers using a shape-based method. 2013. Paper presented at AIAA Guidance, Navigation and Control Conference 2013, Boston, Massachusetts, United States.