Control Systems Theory and Applications by Kuntsevich, Vsevolod Gubarev, Vyacheslav Kondratenko, Yuriy (original) (raw)
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Developing and modelling of satellite docking algorithm
2017 8th International Conference on Recent Advances in Space Technologies (RAST), 2017
In this study, a stereovision sensor system hardware and an algorithm are developed to be utilized in autonomous satellite rendezvous applications. A two dimensional representative environment is also being developed consisting of omni wheel robots to test breadboard model of the sensor system in a similar proximity operation scenario. The sensor hardware is designed according to predefined requirements keeping the limitations of the satellites. The sensor is able to estimate position, orientation, linear and angular velocity of a target object whose shape and sizes are known a priori. The detection system relies on specific reference markers and extracted BRISK feature points. Both of stereo and monocular vision approaches are used to detect object and estimate its distance, followed by reverse rigid body transformation to estimate the target?s 3D location and orientation. Time difference between two subsequent frames is used for estimating linear and angular velocities. Additionally, a path-planning algorithm is developed to approach target object in an efficient way.
Fuzzy logic techniques for rendezvous and docking of two geostationary satellites
Telematics and Informatics, 1995
Large assemblings in space require the ability to manage Rendezvous and Docking operations. In future these techniques will be required for the gradual build up of big telecommunication platforms in the geostationary orbit. The paper discusses the use of Fuzzy Logic to model and implement a control system for the docking/berthing of two satellites in geostationary orbit. The system mounted in a chaser vehicle determines the actual state of both satellites and generates torques to execute maneuvers to establish the structural latching. The paper describes the proximity operations to collocate the two satellites in the same orbital window, the Fuzzy guidance and navigation of the chaser approaching the target and the final Fuzzy berthing. The Fuzzy Logic system represents a Knowledge Based Controller that realizes the close loop operations autonomously replacing the conventional control algorithms. The goal is to produce smooth control actions in the proximity of the target and during the docking to avoid disturbance torques in the final assembly orbit. The knowledge of the Fuzzy controller consists of a data base of ruies and the definitions of the fuzzy sets. The knowledge of an experienced spacecratt controller is captured into a set of rules forming the Rules Data Base.
Automatic spacecraft docking using computer vision-based guidance and control techniques
Journal of Guidance, Control, and Dynamics, 1993
An innovative approach to automatic spacecraft docking using a computer vision-based control system is introduced. Precision control of the relative spacecraft velocity is required to achieve "soft" docking with a docking platform on a space station or on another spacecraft. We propose use of a computer vision system as a position and orientation sensor for obtaining feedback information used by guidance and control loops. A camera, fixed to the spacecraft, tracks a standard rhombus mark fixed on the docking platform. Discrete-time position and orientation estimates of the spacecraft, relative to a coordinate frame fixed to the docking platform, are obtained by solving a constrained nonlinear least-squares problem and are used by the spacecraft feedback control loops. The accuracy of the computer vision estimates improves as the relative range decreases, thereby providing improved feedback information when it is most critical. Feedback control loops for the spacecraft, using three pairs of gas jet thrusters, are suggested that keep the camera always pointed at the rhombus mark and that perform precise control of the spacecraft range to achieve soft docking. The interactions between the vision system and the control systems are emphasized. Computer simulations of an integrated docking system verify the practical feasibility of this proposed automatic docking approach.
Genetic algorithms for fuzzy control of automatic docking with a space station
Proceedings of 1995 IEEE International Conference on Evolutionary Computation
The spacecraft guidance and control community is engaged in the task to achieve continuous improvements in accuracy. There are two w a ys to realize this: the improvement in the design and development of sensors and actuators, or the development of new control strategies based on new ideas and principles. The autonomous assembly of two spacecraft in orbit requires intelligent control systems for soft and precise docking operations. We propose the study of a fuzzy logic guidance and navigation system, mounted in a chaser vehicle. This Fuzzy Controller (FC) is a knowledge based controller, that performs the closed loop operations autonomously. It produces smooth control actions in the proximity o f the target, and during the docking to avoid disturbance torque in the nal assembly orbit. We study the use of Genetic Algorithms (GAs) to perform the optimization of the fuzzy controller by nding the best fuzzy sets of the membership functions, to optimize docking time and fuel consumption.
Acta Astronautica, 2010
Space robotics has a substantial interest in achieving on-orbit satellite servicing operations autonomously, e.g. rendezvous and docking/berthing (RVD) with customer and malfunctioning satellites. An on-orbit servicing vehicle requires the ability to estimate the position and attitude in situations whenever the targets are uncooperative. Such situation comes up when the target is damaged. In this context, this work presents a robust autonomous pose system applied to RVD missions. Our approach is based on computer vision, using a single camera and some previous knowledge of the target, i.e. the customer spacecraft. A rendezvous analysis mission tool for autonomous service satellite has been developed and presented, for far maneuvers, e.g. distance above 1 km from the target, and close maneuvers. The far operations consist of orbit transfer using the Lambert formulation. The close operations include the inspection phase (during which the pose estimation is computed) and the final approach phase. Our approach is based on the Lambert problem for far maneuvers and the Hill equations are used to simulate and analyze the approaching and final trajectory between target and chase during the last phase of the rendezvous operation. A method for optimally estimating the relative orientation and position between camera system and target is presented in detail. The target is modelled as an assembly of points. The pose of the target is represented by dual quaternion in order to develop a simple quadratic error function in such a way that the pose estimation task becomes a least square minimization problem. The problem of pose is solved and some methods of non-linear square optimization (Newton, Newton-Gauss, and Levenberg-Marquard) are compared and discussed in terms of accuracy and computational cost.
Applications of artificial intelligence techniques to a spacecraft control problem
1967
Industrial robots have a great impact on increasing the productivity and reducing the time of the manufacturing process. To serve this purpose, in the past decade, many researchers have concentrated to optimize robotic models utilizing artificial intelligence (AI) techniques. Gimbal joints because of their adjustable mechanical advantages have been investigated as a replacement for traditional revolute joints, especially when they are supposed to have tiny motions. In this research, the genetic algorithm (GA), a well-known evolutionary technique, has been adopted to find optimal parameters of the gimbal joints. Since adopting the GA is a time-consuming process, an artificial neural network (ANN) architecture has been proposed to model the behavior of the GA. e result shows that the proposed ANN model can be used instead of the complex and time-consuming GA in the process of finding the optimal parameters of the gimbal joint.
Experimental Study of Spacecraft Pose Estimation Algorithm Using Vision-based Sensor
Journal of Astronomy and Space Sciences, 2018
This paper presents a vision-based relative pose estimation algorithm and its validation through both numerical and hardware experiments. The algorithm and the hardware system were simultaneously designed considering actual experimental conditions. Two estimation techniques were utilized to estimate relative pose; one was a nonlinear least square method for initial estimation, and the other was an extended Kalman Filter for subsequent on-line estimation. A measurement model of the vision sensor and equations of motion including nonlinear perturbations were utilized in the estimation process. Numerical simulations were performed and analyzed for both the autonomous docking and formation flying scenarios. A configuration of LED-based beacons was designed to avoid measurement singularity, and its structural information was implemented in the estimation algorithm. The proposed algorithm was verified again in the experimental environment by using the Autonomous Spacecraft Test Environment for Rendezvous In proXimity (ASTERIX) facility. Additionally, a laser distance meter was added to the estimation algorithm to improve the relative position estimation accuracy. Throughout this study, the performance required for autonomous docking could be presented by confirming the change in estimation accuracy with respect to the level of measurement error. In addition, hardware experiments confirmed the effectiveness of the suggested algorithm and its applicability to actual tasks in the real world.
Design Methodology of Space Systems Control Complex Optimized Structure
2011
After launch, access to space segment (the satellite) and space operations can be done only by means of the ground segment and its radio link between satellite and TT&C ground stations; so the preliminary activities must be fulfilled before. In this article, the three main methods of satellite contro l during flight have been introduced and the optimum method has been concluded. The main methods of satellite control are: command-based, time schedulebased and coordinatebased control method; the other methods are combinations of these three methods. In order to determine the optimum one, the AHP (Analytic Hierarchy Process) method has been used. All the satellite control methods have advantages and disadvantages so the mission planners and system engineers will select the best, according to the criteria and the weight of each criterion. The satellite onboard computer (OBC) will be programmed based on the selected control method. The supposed criteria in this article are: fastness (the time interval between decision making and start-up), accuracy, cost, onboard power consumption and reliability. Among the introduced methods, the combination of commandbased and time schedulebased control method has been selected as the optimum.
2006
Maintaining space situational awareness requires an understanding of friendly and opposing force capabilities. This paper presents work towards a flexible and accurate framework for modeling rendezvous and proximity operations (RPO) within an existing simulation environment. The authors present several spacecraft close proximity maneuvering and perching techniques modeled with a high-precision numerical integrator using full force models and closed-loop control with a fuzzy logic intelligent controller to command the engines. Maneuvers, fuel use, and other parameters are documented and compared. An innovative application to design, simulate and analyze proximity and perching maneuvers, already in use for operational satellites performing other maneuvers, has been built. The system has been extended to develop closed-loop control laws to maneuver spacecraft in close proximity to another, perch and stare, conduct self-inspection, docking and other operations applicable to space situational awareness, space based surveillance and operational satellite modeling. The fully integrated end-to-end trajectory ephemerides are available from the authors in electronic ASCII text by request.