MS thesis abstract - Hilstad, Mark

Author:	Hilstad, Mark
Degree:	Masters of Science
SERC #:	16-02
File type:	PDF, 880 kB
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A Multi-Vehicle Testbed and Interface Framework for the Development and Verification of Separated Spacecraft Control Algorithms

To reduce mission cost and improve spacecraft performance, the National Aeronautics and Space Administration and the United States military are considering the use of distributed spacecraft architectures in several future missions. Precise relative control of separated spacecraft position and attitude is an enabling technology for many science and defense applications that require distributed measurements, such as long-baseline interferometric arrays. The SPHERES testbed provides a low-risk, representative dynamic environment for the interactive development and verification of formation flight control and autonomy algorithms. The testbed is described, and properties relevant to control formulation such as thruster placement geometry and actuation non-linearity are discussed. A hybrid state determination methodology utilizing a memoryless attitude update and a Kalman filter for position and velocity is presented. State updates are performed based on range measurements to each vehicle from known positions on the periphery of the test volume. A high-level, modular control interface facilitates rapid test development and the efficient reuse of old code, while maintaining freedom in the design of new algorithms. A simulation created to facilitate the development of new maneuvers, tests, and control algorithms is described.