Nonlinear model reduction and decentralized control of tethered formation flight by oscillation synchronization

Soon Jo Chung

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

Abstract

This paper describes a fully decentralized nonlinear control law for spinning tethered formation flight, based on exploiting geometric symmetries to reduce the original non-linear dynamics into simpler stable dynamics. Motivated by oscillation synchronization In biological systems, we use contraction theory to prove that a control law stabilizing a single-tethered spacecraft can also stabilize arbitrary large circular arrays of spacecraft, as well as the three inline configuration. The convergence result is global and exponential. Numerical simulations and experimental results using the SPHERES testbed validate the exponential stability of the tethered formation arrays by implementing a tracking control law derived from the reduced dynamics.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages4145-4159
Number of pages15
ISBN (Print)1563478196, 9781563478192
DOIs
StatePublished - 2006
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Volume6

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

ASJC Scopus subject areas

  • Engineering(all)

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