Finite-time control for spacecraft body-fixed hovering over an asteroid

Daero Lee, Amit Sanyal, Eric Butcher, Daniel Scheeres

Research output: Contribution to journalArticlepeer-review

79 Scopus citations


A finite-time control scheme for autonomous body-fixed hovering of a rigid spacecraft over a tumbling asteroid is presented. The relative configuration between the spacecraft and asteroid is described in terms of exponential coordinates on the Lie group SE(3), which is the configuration space for the spacecraft. With a Lyapunov stability analysis, the finite-time convergence of the proposed control scheme for the closed-loop system is proved. Numerical simulations validate the performance of the proposed control scheme.

Original languageEnglish (US)
Article number7073509
Pages (from-to)506-520
Number of pages15
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number1
StatePublished - Jan 1 2015
Externally publishedYes

ASJC Scopus subject areas

  • Aerospace Engineering
  • Electrical and Electronic Engineering


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