The Experts below are selected from a list of 13656 Experts worldwide ranked by ideXlab platform
Per Johan Nicklasson - One of the best experts on this subject based on the ideXlab platform.
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brief paper Spacecraft Relative rotation tracking without angular velocity measurements
Automatica, 2009Co-Authors: Raymond Kristiansen, Antonio Loria, Antoine Chaillet, Per Johan NicklassonAbstract:We present a solution to the problem of tracking Relative rotation in a leader-follower Spacecraft formation using feedback from Relative attitude only. The controller incorporates an approximate-differentiation filter to account for the unmeasured angular velocity. We show uniform practical asymptotic stability (UPAS) of the closed-loop system. For simplicity, we assume that the leader is controlled and that we know orbital perturbations; however, this assumption can be easily relaxed to boundedness without degrading the stability property. We also assume that angular velocities of Spacecraft Relative to an inertial frame are bounded. Simulation results of a leader-follower Spacecraft formation using the proposed controller structure are also presented.
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Spacecraft Relative rotation track- ing without angular velocity measurements
Automatica, 2009Co-Authors: Raymond Kristiansen, Antonio Loria, Antoine Chaillet, Per Johan NicklassonAbstract:We present a solution to the problem of tracking Relativerotation in a leader-follower Spacecraft formation using feedback from Relative attitude only. The controller incorporates an approximate-differentiation filter to account for the unmeasured angularvelocity. We show uniform practical asymptotic stability (UPAS) of the closed-loop system. For simplicity, we assume that the leader is controlled and that we know orbital perturbations; however, this assumption can be easily relaxed to boundedness without degrading the stability property. We also assume that angularvelocities of SpacecraftRelative to an inertial frame are bounded. Simulation results of a leader-follower Spacecraft formation using the proposed controller structure are also presented
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ACC - Uniform practical output-feedback stabilization of Spacecraft Relative rotation
2008 American Control Conference, 2008Co-Authors: Raymond Kristiansen, Antonio Loria, Antoine Chaillet, Per Johan NicklassonAbstract:In this paper we present a solution to the problem of tracking Relative rotation in a leader-follower Spacecraft formation using feedback from Relative attitude only. The controller incorporates a linear approximation filter to achieve knowledge of angular velocity, and the controller structure renders the equilibrium points of the closed-loop system uniformly practically asymptotically stable (UPAS). That is, the state errors in the closed-loop system are proved to converge from any initial conditions in a region of attraction to a ball in close vicinity of the origin in a stable way, and this ball can be diminished arbitrarily by increasing the gains in the control law. The controller assumes boundedness of angular velocities of Spacecraft Relative to an inertial frame. Simulation results of a leader-follower Spacecraft formation using the proposed controller structure are also presented.
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CDC - Adaptive Output Feedback Control of Spacecraft Relative Translation
Proceedings of the 45th IEEE Conference on Decision and Control, 2006Co-Authors: Raymond Kristiansen, Antonio Loria, Antoine Chaillet, Per Johan NicklassonAbstract:We address the problem of tracking Relative translation in a leader-follower Spacecraft formation using position feedback and under parameter uncertainty (Spacecraft mass) and uncertainty in the leader variables (true anomaly rate and rate of change). We only assume boundedness of orbital perturbations and the leader control force but with unknown bounds. Under these conditions we propose a controller that renders the closed-loop system delta-weakly uniformly semiglobally practically asymptotically stable. In particular, the domain of attraction can be made arbitrarily large by picking convenient gains, and the state errors in the closed-loop system are proved to converge from any initial condition within the domain of attraction to a ball in close vicinity of the origin in a stable way; moreover, this ball can be diminished to a maximum precision by increasing the gains in the control law. Simulation results of a leader-follower Spacecraft formation using the proposed controller are presented
Ming Xin - One of the best experts on this subject based on the ideXlab platform.
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Vision-Based Spacecraft Relative Navigation Using Sparse-Grid Quadrature Filter
IEEE Transactions on Control Systems Technology, 2013Co-Authors: Bin Jia, Ming XinAbstract:In this paper, vision-based Relative navigation of two Spacecraft is addressed using the sparse-grid quadrature filter. The Relative navigation provides the estimates of the Relative orbit and Relative attitude as well as the gyro biases. It is a challenging problem because of its high nonlinearity and dimensionality. The extended Kalman filter (EKF) and the unscented Kalman filter (UKF) have been used in the past to solve this problem. However, these filters are not accurate enough in the presence of large initial uncertainties or high nonlinearities. Moreover, although other filters, such as the Gauss-Hermite quadrature filter and the particle filter, can be more accurate than the EKF and UKF, they are hard to use in this high-dimensional estimation problem since a large number of quadrature points or particles are required and therefore the computation complexity is prohibitive. It is shown in this paper that the new sparse-grid quadrature filter can achieve much higher estimation accuracy than EKF, UKF, and the cubature Kalman filter without excessive computation load.
Raymond Kristiansen - One of the best experts on this subject based on the ideXlab platform.
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brief paper Spacecraft Relative rotation tracking without angular velocity measurements
Automatica, 2009Co-Authors: Raymond Kristiansen, Antonio Loria, Antoine Chaillet, Per Johan NicklassonAbstract:We present a solution to the problem of tracking Relative rotation in a leader-follower Spacecraft formation using feedback from Relative attitude only. The controller incorporates an approximate-differentiation filter to account for the unmeasured angular velocity. We show uniform practical asymptotic stability (UPAS) of the closed-loop system. For simplicity, we assume that the leader is controlled and that we know orbital perturbations; however, this assumption can be easily relaxed to boundedness without degrading the stability property. We also assume that angular velocities of Spacecraft Relative to an inertial frame are bounded. Simulation results of a leader-follower Spacecraft formation using the proposed controller structure are also presented.
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Spacecraft Relative rotation track- ing without angular velocity measurements
Automatica, 2009Co-Authors: Raymond Kristiansen, Antonio Loria, Antoine Chaillet, Per Johan NicklassonAbstract:We present a solution to the problem of tracking Relativerotation in a leader-follower Spacecraft formation using feedback from Relative attitude only. The controller incorporates an approximate-differentiation filter to account for the unmeasured angularvelocity. We show uniform practical asymptotic stability (UPAS) of the closed-loop system. For simplicity, we assume that the leader is controlled and that we know orbital perturbations; however, this assumption can be easily relaxed to boundedness without degrading the stability property. We also assume that angularvelocities of SpacecraftRelative to an inertial frame are bounded. Simulation results of a leader-follower Spacecraft formation using the proposed controller structure are also presented
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ACC - Uniform practical output-feedback stabilization of Spacecraft Relative rotation
2008 American Control Conference, 2008Co-Authors: Raymond Kristiansen, Antonio Loria, Antoine Chaillet, Per Johan NicklassonAbstract:In this paper we present a solution to the problem of tracking Relative rotation in a leader-follower Spacecraft formation using feedback from Relative attitude only. The controller incorporates a linear approximation filter to achieve knowledge of angular velocity, and the controller structure renders the equilibrium points of the closed-loop system uniformly practically asymptotically stable (UPAS). That is, the state errors in the closed-loop system are proved to converge from any initial conditions in a region of attraction to a ball in close vicinity of the origin in a stable way, and this ball can be diminished arbitrarily by increasing the gains in the control law. The controller assumes boundedness of angular velocities of Spacecraft Relative to an inertial frame. Simulation results of a leader-follower Spacecraft formation using the proposed controller structure are also presented.
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CDC - Adaptive Output Feedback Control of Spacecraft Relative Translation
Proceedings of the 45th IEEE Conference on Decision and Control, 2006Co-Authors: Raymond Kristiansen, Antonio Loria, Antoine Chaillet, Per Johan NicklassonAbstract:We address the problem of tracking Relative translation in a leader-follower Spacecraft formation using position feedback and under parameter uncertainty (Spacecraft mass) and uncertainty in the leader variables (true anomaly rate and rate of change). We only assume boundedness of orbital perturbations and the leader control force but with unknown bounds. Under these conditions we propose a controller that renders the closed-loop system delta-weakly uniformly semiglobally practically asymptotically stable. In particular, the domain of attraction can be made arbitrarily large by picking convenient gains, and the state errors in the closed-loop system are proved to converge from any initial condition within the domain of attraction to a ball in close vicinity of the origin in a stable way; moreover, this ball can be diminished to a maximum precision by increasing the gains in the control law. Simulation results of a leader-follower Spacecraft formation using the proposed controller are presented
Ilya Kolmanovsky - One of the best experts on this subject based on the ideXlab platform.
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Spacecraft Relative Motion Planning Using Chained Chance-Constrained Admissible Sets
2019Co-Authors: Andrew W. Berning, Anouck Girard, Christopher D. Petersen, Frederick A. Leve, Ilya KolmanovskyAbstract:With the increasing interest in proximity and docking operations, there is a growing interest in Spacecraft Relative motion control. This paper extends a previously proposed constrained Relative motion approach based on chained positively invariant sets to the case where the Spacecraft dynamics are controlled using output feedback on noisy measurements and are subject to stochastic disturbances. It is shown that non-convex polyhedral exclusion zone constraints can be handled. The methodology consists of a virtual net of static equilibria nodes in the Clohessy-Wiltshire-Hill frame. Connectivity between nodes is determined through the use of chance-constrained admissible sets, guaranteeing that constraints are met with a specified probability.
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invariance based Spacecraft Relative motion planning incorporating bounded disturbances and minimum thrust constraints
Advances in Computing and Communications, 2018Co-Authors: Gregory R. Frey, Anouck Girard, Christopher D. Petersen, Frederick A. Leve, Ilya KolmanovskyAbstract:A Spacecraft Relative motion planning methodology is developed to design and execute feasible and fuel efficient maneuvers transitioning between specified natural motion trajectories (NMTs) while accommodating thrust constraints and avoiding exclusion zones. These maneuvers are generated via a graph search applied to a set (virtual net) of closed (periodic) NMTs with adjacency information determined based on safe, positively invariant (SPI) tubes constructed about each NMT. This work extends previous efforts by incorporating bounded disturbances into the generation of these tubes. This extension enables the scheme to account for unmodeled forces, such as orbital perturbations or thruster alignment errors, and to accommodate a minimum thrust constraint, similar to the minimum impulse bit restrictions common to many Spacecraft.
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ACC - Invariance-based Spacecraft Relative Motion Planning Incorporating Bounded Disturbances and Minimum Thrust Constraints
2018 Annual American Control Conference (ACC), 2018Co-Authors: Gregory R. Frey, Anouck Girard, Christopher D. Petersen, Frederick A. Leve, Ilya KolmanovskyAbstract:A Spacecraft Relative motion planning methodology is developed to design and execute feasible and fuel efficient maneuvers transitioning between specified natural motion trajectories (NMTs) while accommodating thrust constraints and avoiding exclusion zones. These maneuvers are generated via a graph search applied to a set (virtual net) of closed (periodic) NMTs with adjacency information determined based on safe, positively invariant (SPI) tubes constructed about each NMT. This work extends previous efforts by incorporating bounded disturbances into the generation of these tubes. This extension enables the scheme to account for unmodeled forces, such as orbital perturbations or thruster alignment errors, and to accommodate a minimum thrust constraint, similar to the minimum impulse bit restrictions common to many Spacecraft.
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Constrained Spacecraft Relative Motion Planning Exploiting Periodic Natural Motion Trajectories and Invariance
arXiv: Optimization and Control, 2017Co-Authors: Gregory R. Frey, Ilya Kolmanovsky, Christopher D. Petersen, Frederick A. Leve, Anouck GirardAbstract:Spacecraft Relative motion planning is concerned with the design and execution of maneuvers Relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and formation flight where exclusion zones representing Spacecraft or other obstacles must be avoided. The presence of these exclusion zones leads to non-linear and non-convex constraints which must be satisfied. In this paper, a novel approach to Spacecraft Relative motion planning with obstacle avoidance and thrust constraints is developed. This approach is based on a graph search applied to a virtual net of closed (periodic) natural motion trajectories, where the natural motion trajectories represent virtual net nodes (vertices), and adjacency and connection information is determined by conditions defined in terms of safe, positively-invariant tubes built around each trajectory. These conditions guarantee that transitions from one natural motion trajectory to another natural motion trajectory can be completed without constraint violations. The proposed approach improves the flexibility of a previous approach based on the use of forced equilibria, and has other advantages in terms of reduced fuel consumption and passive safety. The resulting maneuvers, if planned on-board, can be executed directly or, if planned off board, can be used to warm start trajectory optimizers to generate further improvements.
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Incorporating periodic and non-periodic natural motion trajectories into constrained invariance-based Spacecraft Relative motion planning
2017 IEEE Conference on Control Technology and Applications (CCTA), 2017Co-Authors: Gregory R. Frey, Ilya Kolmanovsky, Christopher D. Petersen, Frederick A. Leve, Anouck R. GirardAbstract:Spacecraft Relative motion planning is concerned with the design and execution of maneuvers Relative to a nominal target. These maneuvers must account for Spacecraft dynamics, and possibly for constrained thrust capabilities and inclusion and exclusion zone constraints, where the latter can be non-linear and non-convex. In this paper, a scheme for generating a feasible trajectory for Spacecraft Relative motion based on a graph search applied to a set (virtual net) of closed (periodic) natural motion trajectories (NMTs) is extended to incorporate open (non-periodic) NMTs. This extension increases the flexibility of the scheme and can provide other advantages, such as reduced fuel use. Safe positively invariant tubes are constructed around each trajectory in the virtual net and used to determine node (vertex) adjacency and connection information such that transitions between trajectories corresponding to adjacent nodes can be executed while satisfying the imposed constraints.
Bin Jia - One of the best experts on this subject based on the ideXlab platform.
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Vision-Based Spacecraft Relative Navigation Using Sparse-Grid Quadrature Filter
IEEE Transactions on Control Systems Technology, 2013Co-Authors: Bin Jia, Ming XinAbstract:In this paper, vision-based Relative navigation of two Spacecraft is addressed using the sparse-grid quadrature filter. The Relative navigation provides the estimates of the Relative orbit and Relative attitude as well as the gyro biases. It is a challenging problem because of its high nonlinearity and dimensionality. The extended Kalman filter (EKF) and the unscented Kalman filter (UKF) have been used in the past to solve this problem. However, these filters are not accurate enough in the presence of large initial uncertainties or high nonlinearities. Moreover, although other filters, such as the Gauss-Hermite quadrature filter and the particle filter, can be more accurate than the EKF and UKF, they are hard to use in this high-dimensional estimation problem since a large number of quadrature points or particles are required and therefore the computation complexity is prohibitive. It is shown in this paper that the new sparse-grid quadrature filter can achieve much higher estimation accuracy than EKF, UKF, and the cubature Kalman filter without excessive computation load.