Module: smallBodyWaypointFeedback¶

Executive Summary¶

This module is provides a feedback control law for waypoint-to-waypoint control about a small body. The waypoints are defined in the Hill frame of the body.

Message Connection Descriptions¶

The following table lists all the module input and output messages. The module msg connection is set by the user from python. The msg type contains a link to the message structure definition, while the description provides information on what this message is used for.

Module I/O Messages¶
Msg Variable Name	Msg Type	Description
navTransInMsg	NavTransMsgPayload	translational navigation input message
navAttInMsg	NavAttMsgPayload	attitude navigation input message
asteroidEphemerisInMsg	EphemerisMsgPayload	asteroid ephemeris input message
sunEphemerisInMsg	EphemerisMsgPayload	sun ephemeris input message
forceOutMsg	CmdForceBodyMsgPayload	force command output
forceOutMsgC	CmdForceBodyMsgPayload	C-wrapped force output message

Detailed Module Description¶

General Function¶

The smallBodyWaypointFeedback() module provides a solution for waypoint-to-waypoint control about a small body. The feedback control law is similar to the cartesian coordinate continuous feedback control law in Chapter 14 of Analytical Mechanics of Space Systems. A cannonball SRP model, third body perturbations from the sun, and point-mass gravity are utilized. The state inputs are messages written out by Module: simpleNav and Module: planetNav modules or an estimator that provides the same input messages.

Algorithm¶

The state vector is defined as follows:

(1)¶\[\begin{split}\mathbf{X} = \begin{bmatrix} \mathbf{x}_1\\ \mathbf{x}_2\\ \end{bmatrix}= \begin{bmatrix} {}^O\mathbf{r}_{B/O} \\ {}^O\dot{\mathbf{r}}_{B/O} \\ \end{bmatrix}\end{split}\]

The associated frame definitions may be found in the following table.

Frame Definitions¶
Frame Description	Frame Definition
Small Body Hill Frame	\(O: \{\hat{\mathbf{o}}_1, \hat{\mathbf{o}}_2, \hat{\mathbf{o}}_3\}\)
Spacecraft Body Frame	\(B: \{\hat{\mathbf{b}}_1, \hat{\mathbf{b}}_2, \hat{\mathbf{b}}_3\}\)

The derivation of the control law is skipped here for brevity. The thrust, however, is computed as follows:

(2)¶\[\begin{equation} \mathbf{u} = -(f(\mathbf{x}) - f(\mathbf{x}_{ref})) - [K_1]\Delta\mathbf{x}_1 - [K_2]\Delta\mathbf{x}_2 \end{equation}\]

The relative velocity dynamics are described in detail by Takahashi and Scheeres.

(3)¶\[\begin{split}\begin{split} f(\mathbf{x}) = ^O\ddot{\mathbf{r}}_{S/O} = -\ddot{F}[\tilde{\hat{\mathbf{o}}}_3]\mathbf{x}_1 - 2\dot{F}[\tilde{\hat{\mathbf{o}}}_3]\mathbf{x}_2 - \dot{F}^2[\tilde{\hat{\mathbf{o}}}_3][\tilde{\hat{\mathbf{o}}}_3]\mathbf{x}_1- \dfrac{\mu_a \mathbf{x}_1}{||\mathbf{x}_1||^3} + \dfrac{\mu_s(3{}^O\hat{\mathbf{d}}{}^O\hat{\mathbf{d}}^T-[I_{3 \times 3}])\mathbf{x}_1}{d^3} \\ + C_{SRP}\dfrac{P_0(1+\rho)A_{sc}}{M_{sc}}\dfrac{(1\text{AU})^2}{d^2}\hat{\mathbf{o}}_1 + \sum_i^I\dfrac{{}^O\mathbf{F}_i}{M_{sc}} + \sum_j^J\dfrac{{}^O\mathbf{F}_j}{M_{sc}} \end{split}\end{split}\]

User Guide¶

A detailed example of the module is provided in scenarioSmallBodyFeedbackControl. However, the initialization of the module is also shown here. The module is first initialized as follows:

waypointFeedback = smallBodyWaypointFeedback.SmallBodyWaypointFeedback()

The asteroid ephemeris input message is then connected. In this example, we use the Module: planetNav module.

waypointFeedback.asteroidEphemerisInMsg.subscribeTo(planetNavMeas.ephemerisOutMsg)

A standalone message is created for the sun ephemeris message.

sunEphemerisMsgData = messaging.EphemerisMsgPayload()
sunEphemerisMsg = messaging.EphemerisMsg()
sunEphemerisMsg.write(sunEphemerisMsgData)
waypointFeedback.sunEphemerisInMsg.subscribeTo(sunEphemerisMsg)

The navigation attitude and translation messages are then subscribed to

waypointFeedback.navAttInMsg.subscribeTo(simpleNavMeas.attOutMsg)
waypointFeedback.navTransInMsg.subscribeTo(simpleNavMeas.transOutMsg)

Finally, the area, mass, inertia, and gravitational parameter of the asteroid are initialized

waypointFeedback.A_sc = 1.  # Surface area of the spacecraft, m^2
waypointFeedback.M_sc = mass  # Mass of the spacecraft, kg
waypointFeedback.IHubPntC_B = unitTestSupport.np2EigenMatrix3d(I)  # sc inertia
waypointFeedback.mu_ast = mu  # Gravitational constant of the asteroid

The reference states are then defined:

waypointFeedback.x1_ref = [-2000., 0., 0.]
waypointFeedback.x2_ref = [0.0, 0.0, 0.0]

Finally, the feedback gains are set:

waypointFeedback.K1 = unitTestSupport.np2EigenMatrix3d([5e-4, 0e-5, 0e-5, 0e-5, 5e-4, 0e-5, 0e-5, 0e-5, 5e-4])
waypointFeedback.K2 = unitTestSupport.np2EigenMatrix3d([1., 0., 0., 0., 1., 0., 0., 0., 1.])

class SmallBodyWaypointFeedback : public SysModel ¶

#include <smallBodyWaypointFeedback.h>

This module is provides a Lyapunov feedback control law for waypoint to waypoint guidance and control about a small body. The waypoints are defined in the Hill frame of the body.

Public Functions

SmallBodyWaypointFeedback()¶: This is the constructor for the module class. It sets default variable values and initializes the various parts of the model

~SmallBodyWaypointFeedback()¶: Module Destructor

void SelfInit()¶

Self initialization for C-wrapped messages.

Initialize C-wrapped output messages

void Reset(uint64_t CurrentSimNanos)¶

This method is used to reset the module and checks that required input messages are connect.

Returns: void

void UpdateState(uint64_t CurrentSimNanos)¶

This is the main method that gets called every time the module is updated. Provide an appropriate description.

Returns: void

void readMessages()¶

This method reads the input messages each call of updateState

Returns: void

void computeControl(uint64_t CurrentSimNanos)¶

This method computes the control using a Lyapunov feedback law

Returns: void

void writeMessages(uint64_t CurrentSimNanos)¶

This method reads the input messages each call of updateState

Returns: void

Public Members

ReadFunctor<NavTransMsgPayload> navTransInMsg¶: translational navigation input message

ReadFunctor<NavAttMsgPayload> navAttInMsg¶: attitude navigation input message

ReadFunctor<EphemerisMsgPayload> asteroidEphemerisInMsg¶: asteroid ephemeris input message

ReadFunctor<EphemerisMsgPayload> sunEphemerisInMsg¶: sun ephemeris input message

Message<CmdForceBodyMsgPayload> forceOutMsg¶: force command output

CmdForceBodyMsg_C forceOutMsgC = {}¶: C-wrapped force output message.

BSKLogger bskLogger¶: — BSK Logging

double C_SRP¶: SRP scaling coefficient.

double P_0¶: SRP at 1 AU.

double rho¶: Surface reflectivity.

double A_sc¶: Surface area of the spacecraft.

double M_sc¶: Mass of the spacecraft.

Eigen::Matrix3d IHubPntC_B¶: sc inertia

double mu_ast¶: Gravitational constant of the asteroid.

Eigen::Vector3d x1_ref¶: Desired Hill-frame position.

Eigen::Vector3d x2_ref¶: Desired Hill-frame velocity.

Eigen::Matrix3d K1¶: Position gain.

Eigen::Matrix3d K2¶: Velocity gain.

Private Members

NavTransMsgPayload navTransInMsgBuffer¶: local copy of message buffer

NavAttMsgPayload navAttInMsgBuffer¶: local copy of message buffer

EphemerisMsgPayload asteroidEphemerisInMsgBuffer¶: local copy of message buffer

EphemerisMsgPayload sunEphemerisInMsgBuffer¶: local copy of message buffer

uint64_t prevTime¶: Previous time, ns.

double mu_sun¶: Gravitational parameter of the sun.

Eigen::Matrix3d o_hat_3_tilde¶: Tilde matrix of the third asteroid orbit frame base vector.

Eigen::Vector3d o_hat_1¶: First asteroid orbit frame base vector.

Eigen::MatrixXd I¶: 3 x 3 identity matrix

classicElements oe_ast¶: Orbital elements of the asteroid.

double F_dot¶: Time rate of change of true anomaly.

double F_ddot¶: Second time derivative of true anomaly.

Eigen::Vector3d r_BN_N¶

Eigen::Vector3d v_BN_N¶

Eigen::Vector3d v_ON_N¶

Eigen::Vector3d r_ON_N¶

Eigen::Vector3d r_SN_N¶

Eigen::Matrix3d dcm_ON¶: DCM from the inertial frame to the small-body’s hill frame.

Eigen::Vector3d r_SO_O¶: Vector from the small body’s origin to the inertial frame origin in small-body hill frame components.

Eigen::Vector3d f_curr¶

Eigen::Vector3d f_ref¶

Eigen::Vector3d x1¶

Eigen::Vector3d x2¶

Eigen::Vector3d dx1¶

Eigen::Vector3d dx2¶

Eigen::Vector3d thrust_O¶

Eigen::Vector3d thrust_B¶