Various problems exist within the field of autonomous rendezvous, proximity operations and docking (ARPOD), including the development of control methodologies capable of solving problems with uncertain dynamics, logical modes, fault tolerance and complex maneuvers. A problem of interest is a particular underactuated docking case study, where full attitudinal actuation of the deputy is available, but thrust is only allowable along a single body-fixed axis. While restricted variants of the problem have been solved, a solution to the complete 6 degree-of-freedom (6-DoF) dynamics for docking has not been discovered. Classical control methods, such as feedback control derived from the linearization of the 6-DoF dynamics about an equilibrium point, are not applicable. However, a promising alternative approach to classical control theory is that of optimal control. This paper presents a methodological approach that leverages the Legendre-Gauss-Radau (LGR) direct collocation algorithm, a powerful numerical technique tailored for complex trajectory optimization tasks in the realm of spacecraft dynamics and control. This work outlines the dynamical equations needed to simulate relative underactuated motion in 6-DoF and demonstrates LGR as a feasible solution to this underactuated docking problem.
3D Underactuated Spacecraft Docking using Legendre Gauss Radau Collocation
2024-03-02
2461509 byte
Conference paper
Electronic Resource
English
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