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Attitude Control of the Asteroid Redirect Robotic Mission Spacecraft with a Captured Boulder

Falcone, Giusy and Saxena, Ayush and Bandyopadhyay, Saptarshi and Chung, Soon-Jo and Hadaegh, Fred (2016) Attitude Control of the Asteroid Redirect Robotic Mission Spacecraft with a Captured Boulder. In: AIAA/AAS Astrodynamics Specialist Conference. American Institute of Aeronautics and Astronautics , Art. No. 2016-5645. ISBN 978-1-62410-445-9.

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NASA’s Asteroid Redirect Robotic Mission (ARRM) aims to pick up a boulder from of a large asteroid and transport it to a distant retrograde orbit around the Moon for future exploration by a manned mission. In this paper, we present a detailed analysis for one of the main control challenges in ARRM, i.e., three-axis attitude control of the ARRM spacecraft with the captured boulder in the presence of large uncertainties in the physical model of the boulder. We first present a 30 degree-of-freedom nonlinear dynamic model of the ARRM spacecraft and boulder combination. We then linearize this nonlinear model about the nominal operating conditions to study the system’s modal properties. A finite element model of the ARRM spacecraft and boulder combination is used to validate our model. We then present linear and nonlinear control laws for the attitude control problem. Both the proportional-derivate based linear controller with lead-lag compensator and roll-off filter and the robust nonlinear tracking control law that tracks a derivative plus proportional-derivate based desired attitude trajectory give robust performance over the range of boulder parameters. We present a detailed comparison of these control laws and also present some design guidelines for the ARRM spacecraft.

Item Type:Book Section
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Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2016 AIAA.
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AIAA Paper2016-5645
Record Number:CaltechAUTHORS:20171218-083612231
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Official Citation:Giusy Falcone, Ayush Saxena, Saptarshi Bandyopadhyay, Soon-Jo Chung, and Fred Hadaegh. "Attitude Control of the Asteroid Redirect Robotic Mission Spacecraft with a Captured Boulder", AIAA/AAS Astrodynamics Specialist Conference, AIAA SPACE Forum, (AIAA 2016-5645)
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:83949
Deposited By: Tony Diaz
Deposited On:18 Dec 2017 17:58
Last Modified:15 Nov 2021 20:15

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