Lyapunov-based thrusters' selection for spacecraft control: Analysis and experimentation

This paper introduces a method for spacecraft rotation and translation control by on-off thrusters with guaranteed Lyapunov-stable tracking of linear dynamic models. In particular, the proposed control method switches on, at each time step, only those thrusters needed to maintain stability. Furthermore, the strategy allocates the configuration so that the minimum number of actuators is used. One of the benefits of the proposed method is that it substitutes both the thruster mapping and the pulse modulation algorithms typically used for real-time allocation of the firing thrusters and for determining the duration of the firing. The proposed approach reduces the computational burden of the onboard computer versus the use of classical thruster mapping algorithms, which typically involve iterative matrix operations. The paper presents analytical demonstrations, numerical simulations on a six-degree-offreedom spacecraft, and experimental tests on a hardware-in-the-loop three-degree-of-freedom spacecraft simulator floating over air pads on a flat floor. The method proves to be effective and easy to implement in real time.