A spacecraft benchmark problem for hybrid control and estimation

The development of autonomous systems is a growing area of importance across a wide range of commercial, government, and civil applications. A number of new technical tools for the design and analysis of complex autonomous systems have been proposed in the literature, including the use of hybrid systems modeling and analysis. This paper develops an exemplar autonomous system problem, namely an autonomous spacecraft rendezvous, proximity operations, and docking (ARPOD) mission, as a benchmark problem for hybrid systems analysis and control techniques. The paper provides a complete mathematical description of the ARPOD hybrid dynamics/control problem, as well as providing details on variants that can be included to emphasize different elements of the hybrid system and to increase or decrease the complexity of the problem. Some baseline results are provided for comparison.

[1]  Daniel E. Hastings,et al.  Architecting a family of space tugs based on orbital transfer mission scenarios , 2003 .

[2]  Olivier L. de Weck,et al.  Economic case for the retirement of geosynchronous communication satellites via space tugs , 2006 .

[3]  Robert B. Friend,et al.  Orbital Express program summary and mission overview , 2008, SPIE Defense + Commercial Sensing.

[4]  Matthew G. Richards,et al.  Assessing the challenges to a geosynchronous space tug system , 2005, SPIE Defense + Commercial Sensing.

[5]  Stéphane Reynaud,et al.  Accurate and autonomous navigation for the ATV , 2007 .

[6]  Felix Huber,et al.  On-Orbit Servicing Missions: Challenges and Solutions for Spacecraft Operations , 2010 .

[7]  Frederick Tasker,et al.  Managing Contact Dynamics for Orbital Robotic Servicing Missions , 2008 .

[8]  Stephen Kemble,et al.  Automated Rendezvous and Docking of Spacecraft , 2007 .

[9]  Calin Belta,et al.  Optimal Control of Markov Decision Processes With Linear Temporal Logic Constraints , 2014, IEEE Transactions on Automatic Control.

[10]  Alberto Bemporad,et al.  Stabilizing Dynamic Controllers for Hybrid Systems: A Hybrid Control Lyapunov Function Approach , 2014, IEEE Transactions on Automatic Control.

[11]  Alvar Saenz-Otero,et al.  Model Predictive Control with Ellipsoid Obstacle Constraints for Spacecraft Rendezvous , 2015 .

[12]  Stephan Merz,et al.  Model Checking: A Tutorial Overview , 2000, MOVEP.

[13]  Douglas J. Zimpfer,et al.  Autonomous Rendezvous, Capture and In-Space Assembly: Past, Present and Future , 2005 .

[14]  Gerard J. Holzmann,et al.  The Model Checker SPIN , 1997, IEEE Trans. Software Eng..

[15]  Glenn Creamer,et al.  SUMO/FREND: vision system for autonomous satellite grapple , 2007, SPIE Defense + Commercial Sensing.

[16]  Kenneth L. McMillan,et al.  Symbolic model checking: an approach to the state explosion problem , 1992 .

[17]  Ricardo G. Sanfelice,et al.  Optimal control of Mixed Logical Dynamical systems with Linear Temporal Logic specifications , 2008, 2008 47th IEEE Conference on Decision and Control.

[18]  Wigbert Fehse,et al.  Automated Rendezvous and Docking of Spacecraft , 2003 .

[19]  Ricardo G. Sanfelice,et al.  Hybrid Dynamical Systems: Modeling, Stability, and Robustness , 2012 .

[20]  W. H. Clohessy,et al.  Terminal Guidance System for Satellite Rendezvous , 2012 .

[21]  Ricardo G. Sanfelice,et al.  Analysis and Design of Cyber-Physical Systems: A Hybrid Control Systems Approach , 2015 .

[22]  David K. Geller,et al.  Navigating the Road to Autonomous Orbital Rendezvous , 2007 .