RRT-Based Steering Law for Singularity Avoidance of Control Moment Gyros used for Spacecraft Target Acquisition
| Autor: | Abhilash Mony |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
010302 applied physics
Spacecraft Computer science business.industry Context (language use) 02 engineering and technology Gimbal 021001 nanoscience & nanotechnology 01 natural sciences Target acquisition Computer Science::Robotics Moment (mathematics) Singularity Control theory 0103 physical sciences Motion planning Steering law 0210 nano-technology business |
| Zdroj: | 2019 Sixth Indian Control Conference (ICC). |
| DOI: | 10.1109/icc47138.2019.9123199 |
| Popis: | A cluster of single gimbal control moment gyroscopes (CMGs) is commonly employed on spacecraft for generating large torques, for fast in-track and cross-track maneuvers. It is well-known that the presence of singular configurations presents challenges when using CMGs for high-precision maneuvers. In this paper, we pose the problem of steering the attitude dynamics of a spacecraft in the context of robotic motion planning, and investigate the use of a Rapidly-Exploring Random Trees (RRT) algorithm for singularity avoidance. The analogy exploited in this approach is that between a singularity and a solid obstacle in the motion planning problem. We demonstrate the effectiveness of the singularity avoidance algorithm through numerical simulation of a CMG cluster on a rigid spacecraft performing target acquisition. The study compares the performance, based on the error in the torque tracking and value of the singularity index for the RRT algorithm vis-a-vis conventional steering laws. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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