Research On Behavior-based Multi-behavior Control Of Spacecraft Formation

The development in space exploration and science in astronomical observationmakes position coordination and attitude coordination in spacecraft formation moreimportant in space-borne interferometry. At the same time, behavior-based approach hasbeen a more mature technique in robotic science for its characteristics of intelligence,reliability and feasibility, which makes it of great value to be approached in spacecraftformation research. This paper does research in behavior-based multi-behavior positioncoordination and attitude coordination in spacecraft formation, and the content is asfollows.Research is done in behavior-based position coordination in spacecraft formation.The paper defines error indices for each of the three Elementary Formation Maneuvers(EFM), namely formation translations, resizing and reorientations. A positioncoordination controller is designed with position information and velocity informationacquired from neighbor spacecrafts and itself. Lyapunov first theory and La Salleinvariant set theory are used to demonstrate the stability and convergence of thecontroller.The study of behavior-based attitude coordination in spacecraft formation isperformed. Two contrary behavior, desired attitude tracking and formation keeping, aredefined with error indices of themselves. The author designs an attitude coordinationcontroller using attitude information and angular velocity information of neighborspacecrafts and itself. Stability and convergence of the system is proven theoreticallywith Lyapunov first theory and La Salle invariant set theory. The author alsodemonstrates how to determine domain of attraction in3spacecrafts ring-likeformation.The author reviews working pattern of distributed space-borne interferometry,indicating the scenario where desired attitude is a function of spacecraft’s position in theformation. Description and indices of four formation behaviors is provided, which areformation maneuvers, formation keeping, desired attitude tracking and attitudecoordination. A multi-behavior controller is designed with error indices, and the stabilityand convergence are proven with Lyapunov first theory and La Salle invariant settheory.