@inproceedings{5067363597694bffb127d761ef4d5f93,

title = "Finite-time control for body-fixed hovering of rigid spacecraft over an asteroid",

abstract = "A finite-time control scheme for autonomous body-fixed hovering of a rigid spacecraft over a tumbling asteroid is presented in the framework of geometric mechanics. This control scheme guarantees convergence of configuration (pose) and velocity tracking errors in finitetime with (H{\"o}lder) continuous feedback. The configuration space for the spacecraft is the Lie group SE(3), which is the set of positions and orientations of the rigid spacecraft in three-dimensional Euclidean space. The asteroid's trajectory is assumed to be available through the spacecraft's on-board navigation. The relative configuration between the spacecraft and the asteroid is described in terms of exponential coordinates on the Lie group SE(3). With this feedback control, the spacecraft achieves a desired relative configuration with respect to the asteroid autonomously and in finite time, without requiring explicit reference states. Finite-time convergence of the proposed control scheme for the closed-loop system is theoretically proved using Lyapunov stability analysis. A numerical simulation demonstrates successful application of this finite-time control scheme for coupled translational and rotational maneuvers about a selected tumbling asteroid, leading to asteroid body-fixed hovering. The asymptotic tracking control was also implemented to compare with the performance of the finite-time control.",

author = "Daero Lee and Sanyal, {Amit K.} and Butcher, {Eric A.} and Scheeres, {Daniel J.}",

year = "2014",

language = "English (US)",

series = "Advances in the Astronautical Sciences",

publisher = "Univelt Inc.",

pages = "303--321",

editor = "Mackison, {Donald L.} and Ossama Abdelkhalik and Wilson, {Roby S.} and Renato Zanetti",

booktitle = "Advances In The Astronautical Sciences",

address = "United States",

note = "24th AAS/AIAA Space Flight Mechanics Meeting, 2014 ; Conference date: 26-01-2014 Through 30-01-2014",

}