This paper presents a combination of guidance and control algorithms, for spacecraft proximity operations in presence of multiple obstacles. The guidance algorithm is based on the theory of artificial potential field (APF) and the control algorithm is based on the theory of sliding mode control (SMC). The effects of both uncertainties and external disturbances are considered in this research. The proposed strategy is validated both by simulations and by experiments on a real testbed. The proposed algorithm appears to be suitable for autonomous, real-time control of complex maneuvers with a minimum on-board computational effort. It is also able to avoid obstacles while avoiding the local minimum issues in APF algorithms.

Artificial Potential Field and Sliding Mode Strategies for Proximity Operations with Obstacle Avoidance / Bloise, N.; Capello, E.; Park, H.; Punta, E.; Romano, M.. - 2018-:(2018), pp. 221-226. ((Intervento presentato al convegno 15th International Workshop on Variable Structure Systems, VSS 2018 tenutosi a Graz University of Technology, aut nel 2018 [10.1109/VSS.2018.8460264].

Artificial Potential Field and Sliding Mode Strategies for Proximity Operations with Obstacle Avoidance

Bloise N.;Capello E.;Punta E.;Romano M.
2018

Abstract

This paper presents a combination of guidance and control algorithms, for spacecraft proximity operations in presence of multiple obstacles. The guidance algorithm is based on the theory of artificial potential field (APF) and the control algorithm is based on the theory of sliding mode control (SMC). The effects of both uncertainties and external disturbances are considered in this research. The proposed strategy is validated both by simulations and by experiments on a real testbed. The proposed algorithm appears to be suitable for autonomous, real-time control of complex maneuvers with a minimum on-board computational effort. It is also able to avoid obstacles while avoiding the local minimum issues in APF algorithms.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11583/2800554