Planning natural repointing manoeuvres for nano-spacecraft

Craig David Maclean, Daniele Pagnozzi, James Biggs

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

In this paper the natural dynamics of a rigid body are exploited to plan attitude manoeuvres for a small spacecraft. By utilising the analytical solutions of the angular velocities and making use of Lax pair integration, the time evolution of the attitude of the spacecraft in a convenient quaternion form is derived. This enables repointing manoeuvres to be generated by optimising the free parameters of the analytical expressions, the initial angular velocities of the spacecraft, to match prescribed boundary conditions on the final attitude of the spacecraft. This produces reference motions which can be tracked using a simple proportional-derivative controller. The natural motions are compared in simulation to a conventional quaternion feedback controller and found to require lower accumulated torque. A simple obstacle avoidance algorithm, exploiting the analytic form of natural motions, is also described and implemented in simulation. The computational efficiency of the motion planning method is discussed.
LanguageEnglish
Pages2129-2145
Number of pages16
JournalIEEE Transactions on Aerospace and Electronic Systems
Volume50
Issue number3
Early online date24 Jan 2014
DOIs
Publication statusPublished - Jul 2014

Fingerprint

Spacecraft
Planning
Angular velocity
Controllers
Collision avoidance
Motion planning
Computational efficiency
Torque
Boundary conditions
Derivatives
Feedback

Keywords

  • geometri mechanics
  • motion planning
  • nano spacecraft

Cite this

Maclean, Craig David ; Pagnozzi, Daniele ; Biggs, James. / Planning natural repointing manoeuvres for nano-spacecraft. In: IEEE Transactions on Aerospace and Electronic Systems. 2014 ; Vol. 50, No. 3. pp. 2129-2145.
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Planning natural repointing manoeuvres for nano-spacecraft. / Maclean, Craig David; Pagnozzi, Daniele; Biggs, James.

In: IEEE Transactions on Aerospace and Electronic Systems, Vol. 50, No. 3, 07.2014, p. 2129-2145.

Research output: Contribution to journalArticle

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