Observer-based body-frame hovering control over a tumbling asteroid

Morad Nazari, Robert Wauson, Thomas Critz, Eric A. Butcher, Daniel J. Scheeres

Research output: Contribution to journalArticlepeer-review

29 Scopus citations


Observer-based hovering control over a tumbling asteroid in the body-fixed frame is studied. An extended Kalman filter (EKF) is used to process range measurements from a small collection of ground stations, yielding estimates of the spacecraft state vector and the gravitational parameters of the asteroid assuming a second degree and order gravity field model. The estimated states are used in the optimal feedback control algorithm which consists of two alternatives: time-varying LQR or the Lyapunov-Floquet transformation (LFT) and time-invariant LQR. The closed-loop response of the system and the control effort required are investigated and compared for both control strategies.

Original languageEnglish (US)
Pages (from-to)124-139
Number of pages16
JournalActa Astronautica
StatePublished - 2014


  • Continuous control
  • Extended Kalman filter
  • Lyapunov-Floquet transformation
  • Time-varying LQR
  • Tumbling asteroid

ASJC Scopus subject areas

  • Aerospace Engineering


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