Hostname: page-component-78c5997874-dh8gc Total loading time: 0 Render date: 2024-11-03T00:40:34.086Z Has data issue: false hasContentIssue false
  • English
  • Français

Autonomous control for on-orbit assembly using potential function methods

Part of: 75 year anniversary of Aeronautical Engineering at Glasgow University

Published online by Cambridge University Press:  04 July 2016

F. McQuade  and
C. R. McInnes
F. McQuade
Affiliation:
Department of Aerospace Engineering, University of Glasgow, Scotland, UK
C. R. McInnes
Affiliation:
Department of Aerospace Engineering, University of Glasgow, Scotland, UK
Get access Rights & Permissions [Opens in a new window]

Abstract

Potential function methods have been applied extensively to many terrestrial and space robot control problems. This paper extends these methods to multiple robot problems for on-orbit assembly. By considering a population of free-flying robotic vehicles in orbit, capable of both rotation and translation, the potential function method reduces complex assembly problems to sets of simple translation and rotational commands. This is achieved using a potential function incorporating both collision avoidance between the free-flyers and connection constraints in the assembled structure. The method also allows a subsumptive type control architecture with the flexibility to carry out many different assembly tasks simultaneously.

Type
Research Article
Information
The Aeronautical Journal , Volume 101 , Issue 1006 , July 1997 , pp. 255 - 262
Copyright
Copyright © Royal Aeronautical Society 1997 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Parrish, J.C. and Akin, D.L. The Ranger telerobotic flight experiment: mission, technologies, and programmatics, Proceedings of Robotics for Challenging Environments II, 1996, 1, pp 136–142.Google Scholar
2. McInnes, C.R. Distributed control of manoeuvring vehicles for on-orbit assembly, J Guid Cont Dyn, 1995, 18, pp 1204–1205.Google Scholar
3. McQuade, F. and McInnes, C.R. Distributed control for on-orbit assembly, AAS 95-446, Advances in Astronautical Sciences, 1996, 90, pp 2079.Google Scholar
4. McQuade, F. and McInnes, C.R. Distributed control techniques for serial assembly in space, Proceedings of fifth International Conference on Space ’96, 1996, 2, pp 1169–1175.Google Scholar
5. McQuade, F. and McInnes, C.R. Co-operative control for the fabrication of extended structures in space, AAS/AIAA Astrodynamics Specialist Conference, July 1996.Google Scholar
6. Borne, P. and Matrasov, V. The Lyapunov functions method and applications, IMACS Annals on Computing and Applied Mathematics, 1990, 8, Nos 1-4.Google Scholar
7. Kalman, R.E. and Bertram, J.E. Control system analysis and design via the ‘second method’ of Lyapunov, Trans ASME, 1960, 82, pp 371–400.Google Scholar
8. Clohessy, W.H. and Wiltshire, R.S. Terminal guidance system for satellite rendezvous, J Aero Sci, 1960, 27, (9), pp 653–674.Google Scholar
9. Bay, J.S. Design of the ‘Army Ant’ co-operative lifting robot, IEEE Robot Auto, 1995, 1, (1), pp 36–43.Google Scholar