James Biggs

Survey of highly non-Keplerian orbits with low-thrust propulsion

Celestial mechanics has traditionally been concerned with orbital motion under the action of a conservative gravitational potential. In particular, the inverse square gravitational force due to the potential of a uniform, spherical mass leads to a family of conic section orbits, as determined by Isaac Newton, who showed that Kepler‟s laws were derivable from his theory of gravitation. While orbital motion under the action of a conservative gravitational potential leads to an array of problems with often complex and interesting solutions, the addition of non-conservative forces offers new avenues of investigation. In particular, non-conservative forces lead to a rich diversity of problems associated with the existence, stability and control of families of highly non-Keplerian orbits generated by a gravitational potential and a non-conservative force. Highly non-Keplerian orbits can potentially have a broad range of practical applications across a number of different disciplines. This review aims to summarize the combined wealth of literature concerned with the dynamics, stability and control of highly non-Keplerian orbits for various low thrust propulsion devices, and to demonstrate some of these potential applications.

Displaced geostationary orbit design using hybrid sail propulsion

Due to an increase in number of geostationary spacecraft and limits imposed by east-west spacing requirements, the geostationary orbit is becoming congested. To increase its capacity, this paper proposes to create new geostationary slots by displacing the geostationary orbit either out of or in the equatorial plane by means of hybrid solar sail and solar electric propulsion. To minimize propellant consumption, optimal steering laws for the solar sail and solar electric propulsion thrust vectors are derived and the performance in terms of mission lifetime is assessed. For comparison, similar analyses are performed for conventional propulsion, including impulsive and pure solar electric propulsion. It is shown that hybrid sails outperform these propulsion techniques and that out-of-plane displacements outperform in-plane displacements. The out-of-plane case is therefore further investigated in a spacecraft mass budget to determine the payload mass capacity. Finally, two transfers that enable a further improvement of the performance of hybrid sails for the out-of-plane case are optimized using a direct pseudo-spectral method: a seasonally transit between orbits displaced above and below the equatorial plane and a transit to a parking orbit when geostationary coverage is not needed. Both transfers are shown to require only a modest propellant budget, outweighing the improvements they can establish.

Control of solar sail periodic orbits in the elliptic three-body problem

A solar sail essentially consists of a large mirror that uses the momentum change due to photons reflecting off the sail for its impulse. Solar sails are therefore unique spacecraft, as they do not require fuel for propulsion [1]. In this Note we consider using the solar sail to continuously maintain a periodic orbit above the ecliptic plane using variations in the sails orientation. Positioning a spacecraft continuously above the ecliptic would allow continuous observation and communication with the poles.

Singularities of Optimal Control Problems on Some 6-D Lie Groups

This paper considers the motion planning problem for oriented vehicles travelling at unit speed in a 3-D space. A Lie group formulation arises naturally and the vehicles are modeled as kinematic control systems with drift defined on the orthonormal frame bundles of particular Riemannian manifolds, specifically, the 3-D space forms Euclidean space E3, the sphere S3, and the hyperboloid H3. The corresponding frame bundles are equal to the Euclidean group of motions SE(3), the rotation group SO(4), and the Lorentz group SO(1, 3). The maximum principle of optimal control shifts the emphasis for these systems to the associated Hamiltonian formalism. For an integrable case, the extremal curves are explicitly expressed in terms of elliptic functions. In this paper, a study at the singularities of the extremal curves are given, which correspond to critical points of these elliptic functions. The extremal curves are characterized as the intersections of invariant surfaces and are illustrated graphically at the singular points. It is then shown that the projections of the extremals onto the base space, called elastica, at these singular points, are curves of constant curvature and torsion, which in turn implies that the oriented vehicles trace helices.

Optimal geometric motion planning for a spin-stabilized spacecraft

Abstract A method requiring low-computational overhead is presented which generates low-torque reference motions between arbitrary orientations for a spin-stabilized spacecraft. The initial stage solves a constrained optimal control problem deriving analytical solutions for a class of smooth and feasible reference motions. Specifically, for a quadratic cost function an application of Pontryagin’s maximum principle leads to a completely integrable Hamiltonian system that is, exactly solvable in closed-form, expressed in terms of several free parameters. This is shown to reduce the complexity of a practical motion planning problem from a constrained functional optimization problem to an unconstrained parameter optimization problem. The generated reference motions are then tracked using an augmented quaternion feedback law, consisting of the sum of a proportional plus derivative term and a term to compensate nonlinear dynamics. The method is illustrated with an application to re-point a spin-stabilized agile micro-spacecraft using zero propellant. The low computational overhead of the method enhances its suitability for on-board motion generation.

Adaptive Fault-Tolerant Control of Spacecraft Attitude Dynamics with Actuator Failures

Spacecraft play an increasingly important role in various areas of modern society, such as telecommunication, earth observation, and space exploration. It is estimated that there have been more than 7000 spacecrafts launched all over the world. Despite rigorous testing many of these spacecraft fail on orbit due to various reasons [1], which consequently often lead to the failure of the whole mission. According to [2], over 30% of spacecraft failures occur at the subsystem level of the Attitude and Orbit Control System (AOCS). Moreover about 50% of the AOCS failures are attributed to actuator errors. The purpose of this paper is to present an actuator fault-tolerant attitude control.

Passive orbit control for space-based geo-engineering

In this Note we consider using solar sail propulsion to stabilize a spacecraft about an artificial libration point. It has been demonstrated that the constant acceleration from a solar sail can be used to generate artificial libration points in the Earth-Sun three-body problem. This is achieved by directing the thrust due to the sail such that it adds to the centripetal and gravitational forces. These libration points have the potential for future space physics and Earth observation missions. Of particular interest is the possibility of placing solar reflectors at the L1 artificial libration point to offset natural and human driven climate change. One engineering challenge that presents itself is that these artificial libration points are highly unstable and require active control for station-keeping. Previous work has shown that it is possible to stabilize a solar sail about artificial libration points using variations in both pitch and yaw angles. However, in a practical sense, solar sails are large structures and active control of the sails attitude is a challenging engineering problem. Passive stabilization of such reflectors is to be investigated here to reduce the complexity of space-based geo-engineering schemes.

Planning rigid body motions using elastic curves

This paper tackles the problem of computing smooth, optimal trajectories on the Euclidean group of motions SE(3). The problem is formulated as an optimal control problem where the cost function to be minimized is equal to the integral of the classical curvature squared. This problem is analogous to the elastic problem from differential geometry and thus the resulting rigid body motions will trace elastic curves. An application of the Maximum Principle to this optimal control problem shifts the emphasis to the language of symplectic geometry and to the associated Hamiltonian formalism. This results in a system of first order differential equations that yield coordinate free necessary conditions for optimality for these curves. From these necessary conditions we identify an integrable case and these particular set of curves are solved analytically. These analytic solutions provide interpolating curves between an initial given position and orientation and a desired position and orientation that would be useful in motion planning for systems such as robotic manipulators and autonomous-oriented vehicles.

Low-Thrust-Enabled Highly-Non-Keplerian Orbits in Support of Future Mars Exploration

The technology of high specific impulse propulsion systems with low thrust is improving, opening up numerous possibilities for future missions applying continuous thrust to force a spacecraft out of a natural Keplerian orbit into a displaced non-Keplerian orbit. A systematic analysis is presented as to the applicability of highly non-Keplerian orbits throughout the Solar System. Thereafter, two applications of such orbits in support of future high-value asset exploration of Mars are detailed: a novel concept for an Earth-Mars interplanetary communications relay, on which the paper largely focuses, and a solar storm warning mission. In the former the relay makes use of artificial equilibrium points, allowing a spacecraft to hover above the orbital plane of Mars and thus ensuring communications when the planet is occulted by the Sun with respect to the Earth. The spacecraft’s power requirements and communications band utilized are taken into account to determine the relay architecture. A detailed contingency analysis is considered for recovering the relay after increasing periods of spacecraft propulsion failure, combined with a consideration of how to deploy the relay spacecraft to maximise propellant reserves and mission duration. For such a relay, a combination of solar sail and solar electric propulsion may prove advantageous, but only under specific circumstances of the relay architecture suggested. For highly non-Keplerian orbits the dynamics of the spacecraft is also briefly extended to consider the elliptic restricted three-body problem and the effects of orbit eccentricity.

Planning natural repointing manoeuvres for nano-spacecraft

In the work presented here the natural dynamics of a rigid body are exploited to plan attitude manoeuvres for a small spacecraft. By using the analytical solutions of the angular velocities and making use of Lax pair integration, the time evolution of the attitude of the spacecraft in a convenient quaternion form is derived. This enables repointing manoeuvres to be generated by optimising the free parameters of the analytical expressions, the initial angular velocities of the spacecraft, to match prescribed boundary conditions on the final attitude of the spacecraft. This produces reference motions that can be tracked using a simple proportional-derivative (PD) controller. The natural motions are compared in simulation with a conventional quaternion feedback controller and found to require lower accumulated torque. A simple obstacle avoidance algorithm, exploiting the analytic form of natural motions, is also described and implemented in simulation. The computational efficiency of the motion planning method is discussed.