Equilibrium Shaping

Details Equilibrium Shaping Equilibrium Shaping

Aug 2006

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2006esasp.633...23i&link_type=abstract

First Workshop on Innovative System Concepts, 21 February 2006, Noordwijk, The Netherlands. Ed.: Karen Fletcher. ESA SP-633, Noo

Computer Science

1

Equilibrium Shaping

Scientific paper

We present a satellite path planning technique able to make identical spacecraft aquire a given configuration. The technique exploits a behaviour-based approach to achieve an autonomous and distributed control over the relative geometry making use of limited sensorial information. A desired velocity is defined for each satellite as a sum of different contributions coming from generic high level behaviours: forcing the final desired configuration the behaviours are further defined by an inverse dynamic calculation dubbed Equilibrium Shaping. We show how considering only three different kind of behaviours it is possible to acquire a number of interesting formations and we set down the theoretical framework to find the entire set. We find that allowing a limited amount of communication the technique may be used also to form complex lattice structures. Several control feedbacks able to track the desired velocities are introduced and discussed. Our results suggest that sliding mode control is particularly appropriate in connection with the developed technique.

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