SPACECRAFT FORMATION RECONFIGURATIONWITH COLLISION AVOIDANCE

摘要

In this paper we present a behavioral control solution forrnreconfiguration of a spacecraft formation using the Null-rnSpace Based (NSB) concept. The solution is task based,rnand aims to reconfigure and maintain a rigid formationrnwhile avoiding collisions between spacecraft. A model ofrnrelative translation is derived, together with a passivitybasedrnsliding surface controller that globally stabilizesrnthe relative position between spacecraft in the formation.rnThe NSB control is implemented by giving each task differentrnpriorities and then calculating desired velocity andrna Jacobian matrix for each spacecraft and each task. Thernvelocity vector for each task is projected into the nullspacernfor higher prioritized tasks to remove conflictingrnvelocity components.