Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics

Daero Lee, Amit K. Sanyal, Eric Butcher, Daniel J. Scheeres

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

A spacecraft hovering scheme over a uniformly rotating asteroid in the asteroid body-fixed frame using geometric mechanics is presented. The configuration space for the spacecraft is the Lie group SE(3), which is the set of positions and orientations of the rigid spacecraft in three-dimensional Euclidean space. The asteroid trajectory, in the form of natural attitude and translational (orbital) motion of a satellite, is assumed to be available through a spacecraft on-board navigation. The spacecraft tracks a desired relative configuration with respect to the asteroid in an autonomous manner. The relative configuration between the spacecraft and the asteroid is described in terms of exponential coordinates on the Lie group of rigid body motions. A continuous-time feedback tracking control using these exponential coordinates and the relative velocities is employed. A Lyapunov analysis guarantees that the spacecraft asymptotically converges to the desired trajectory. Numerical simulation results demonstrate the successful spacecraft hovering control in the asteroid body-fixed frame for a selected uniformly rotating asteroid.

Original languageEnglish (US)
Title of host publicationAdvances in the Astronautical Sciences
PublisherUnivelt Inc.
Pages1757-1773
Number of pages17
Volume150
ISBN (Print)9780877036050
StatePublished - 2014
Externally publishedYes
Event2013 AAS/AIAA Astrodynamics Specialist Conference, Astrodynamics 2013 - Hilton Head Island, SC, United States
Duration: Aug 11 2013Aug 15 2013

Other

Other2013 AAS/AIAA Astrodynamics Specialist Conference, Astrodynamics 2013
CountryUnited States
CityHilton Head Island, SC
Period8/11/138/15/13

Fingerprint

hovering
Asteroids
asteroids
asteroid
mechanics
Spacecraft
Mechanics
spacecraft
Lie groups
configurations
trajectory
Trajectories
trajectories
Euclidean geometry
rigid structures
navigation
Navigation
Satellites
orbits
Feedback

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science

Cite this

Lee, D., Sanyal, A. K., Butcher, E., & Scheeres, D. J. (2014). Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics. In Advances in the Astronautical Sciences (Vol. 150, pp. 1757-1773). Univelt Inc..

Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics. / Lee, Daero; Sanyal, Amit K.; Butcher, Eric; Scheeres, Daniel J.

Advances in the Astronautical Sciences. Vol. 150 Univelt Inc., 2014. p. 1757-1773.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, D, Sanyal, AK, Butcher, E & Scheeres, DJ 2014, Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics. in Advances in the Astronautical Sciences. vol. 150, Univelt Inc., pp. 1757-1773, 2013 AAS/AIAA Astrodynamics Specialist Conference, Astrodynamics 2013, Hilton Head Island, SC, United States, 8/11/13.
Lee D, Sanyal AK, Butcher E, Scheeres DJ. Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics. In Advances in the Astronautical Sciences. Vol. 150. Univelt Inc. 2014. p. 1757-1773
Lee, Daero ; Sanyal, Amit K. ; Butcher, Eric ; Scheeres, Daniel J. / Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics. Advances in the Astronautical Sciences. Vol. 150 Univelt Inc., 2014. pp. 1757-1773
@inproceedings{3730a70d34cc46c5be8b1bc628faa0fb,
title = "Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics",
abstract = "A spacecraft hovering scheme over a uniformly rotating asteroid in the asteroid body-fixed frame using geometric mechanics is presented. The configuration space for the spacecraft is the Lie group SE(3), which is the set of positions and orientations of the rigid spacecraft in three-dimensional Euclidean space. The asteroid trajectory, in the form of natural attitude and translational (orbital) motion of a satellite, is assumed to be available through a spacecraft on-board navigation. The spacecraft tracks a desired relative configuration with respect to the asteroid in an autonomous manner. The relative configuration between the spacecraft and the asteroid is described in terms of exponential coordinates on the Lie group of rigid body motions. A continuous-time feedback tracking control using these exponential coordinates and the relative velocities is employed. A Lyapunov analysis guarantees that the spacecraft asymptotically converges to the desired trajectory. Numerical simulation results demonstrate the successful spacecraft hovering control in the asteroid body-fixed frame for a selected uniformly rotating asteroid.",
author = "Daero Lee and Sanyal, {Amit K.} and Eric Butcher and Scheeres, {Daniel J.}",
year = "2014",
language = "English (US)",
isbn = "9780877036050",
volume = "150",
pages = "1757--1773",
booktitle = "Advances in the Astronautical Sciences",
publisher = "Univelt Inc.",

}

TY - GEN

T1 - Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics

AU - Lee, Daero

AU - Sanyal, Amit K.

AU - Butcher, Eric

AU - Scheeres, Daniel J.

PY - 2014

Y1 - 2014

N2 - A spacecraft hovering scheme over a uniformly rotating asteroid in the asteroid body-fixed frame using geometric mechanics is presented. The configuration space for the spacecraft is the Lie group SE(3), which is the set of positions and orientations of the rigid spacecraft in three-dimensional Euclidean space. The asteroid trajectory, in the form of natural attitude and translational (orbital) motion of a satellite, is assumed to be available through a spacecraft on-board navigation. The spacecraft tracks a desired relative configuration with respect to the asteroid in an autonomous manner. The relative configuration between the spacecraft and the asteroid is described in terms of exponential coordinates on the Lie group of rigid body motions. A continuous-time feedback tracking control using these exponential coordinates and the relative velocities is employed. A Lyapunov analysis guarantees that the spacecraft asymptotically converges to the desired trajectory. Numerical simulation results demonstrate the successful spacecraft hovering control in the asteroid body-fixed frame for a selected uniformly rotating asteroid.

AB - A spacecraft hovering scheme over a uniformly rotating asteroid in the asteroid body-fixed frame using geometric mechanics is presented. The configuration space for the spacecraft is the Lie group SE(3), which is the set of positions and orientations of the rigid spacecraft in three-dimensional Euclidean space. The asteroid trajectory, in the form of natural attitude and translational (orbital) motion of a satellite, is assumed to be available through a spacecraft on-board navigation. The spacecraft tracks a desired relative configuration with respect to the asteroid in an autonomous manner. The relative configuration between the spacecraft and the asteroid is described in terms of exponential coordinates on the Lie group of rigid body motions. A continuous-time feedback tracking control using these exponential coordinates and the relative velocities is employed. A Lyapunov analysis guarantees that the spacecraft asymptotically converges to the desired trajectory. Numerical simulation results demonstrate the successful spacecraft hovering control in the asteroid body-fixed frame for a selected uniformly rotating asteroid.

UR - http://www.scopus.com/inward/record.url?scp=84898975118&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84898975118&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84898975118

SN - 9780877036050

VL - 150

SP - 1757

EP - 1773

BT - Advances in the Astronautical Sciences

PB - Univelt Inc.

ER -