SPHERES Reconfigurable Framework and Control System Design for Autonomous Assembly
Name
Miller_SPHERES reconfigurable.pdf
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411.25 KB
Format
Adobe PDF
Checksum (MD5)
3794d7ac301fe5036f1a2c017ba8ac36
Author(s)
Mohan, Swati
Miller, David W.
Date Issued
August 2009
Journal
Proceedings of the AIAA Guidance, Navigation, and Control Conference
Publisher
American Institute of Aeronautics and Astronautics
Citation
Mohan, Swati, and Miller, David W. "SPHERES Reconfigurable Framework and Control System Design for Autonomous Assembly." AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics, 2009.
Version
Author's final manuscript
Abstract
Reconfigurable control system design is a key component for enabling autonomous on-orbit assembly. Current research on reconfigurable control systems focuses on adapting to failures. However, for assembly scenarios, the reconfiguration is necessitated by changing mass and stiffness properties. This paper provides a brief description of existing reconfigurable control system technology and develops a framework to incorporate reconfiguration into an existing baseline system to account for mass property variations. The reconfigurable control system framework has been developed and implemented using the SPHERES (Synchronized Position Hold Engage Reorient Experimental Satellites) testbed as the baseline system. The framework highlights the elements that need to be updated, introduces a variable p that captures the configuration, and details the updates necessary in the key algorithms to calculate the model online using p. Results are presented from the implementation on the SPHERES, focusing on the reconfigurable estimator. Plans are presented for an integrated assembly test that demonstrates the maintenance of stability, fuel efficiency, and accuracy throughout configuration changes that occur during assembly.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.2514/6.2009-5978
