State feedback control of the spacehawk earth based lunar hopper
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State-Feedback Control of the SpaceHawk Earth-Based Lunar Hopper. Andrew Abraham, May 2013. Background. Researching the dynamics and controls associated with a ‘hopping’ spacecraft trajectory. OBSTACLE. Location A. Location B. Background.

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State-Feedback Control of the SpaceHawk Earth-Based Lunar Hopper

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State feedback control of the spacehawk earth based lunar hopper
State-Feedback Control of the SpaceHawk Earth-Based Lunar Hopper

Andrew Abraham, May 2013


Background
Background

  • Researching the dynamics and controls associated with a ‘hopping’ spacecraft trajectory

OBSTACLE

Location A

Location B


Background1
Background

  • 1967- Surveyor 6 has been the only spacecraft to ‘hop’

    • - Travelled 8 ft.

  • Conventional landers are designed to be rovers constrained to the ground

    • - Disadvantageous for exploring

Mars Exploration Rover

Surveyor 6


Specifications
Specifications

  • 4 ducted fans; each with 10lbs of thrust @ full throttle

  • Fans Produce ZERO torque @ 75%

  • Gimbaled in 1 direction

  • Frame made from aluminum

    • Easy to construct

  • Total weight: 32lbs

  • 26” From end to end


  • Specifications1
    Specifications

    • Arduino Mega for control computer

    • MEMS IMU

    • 4 LiPoly Batteries: 2.25lbs each

    • ICE 80amp Electronic Speed Controller

    • Project funded by NASA

    Arduino Mega

    6 DOF Analog IMU

    1 of 4 LiPo Batteries







    Feedback linearization position
    Feedback Linearization(Position)

    Exact Linearization Control Law

    Plug Into Equations of Motion

    Now, linear control laws can be used with r as the virtual input


    State feedback control of the spacehawk earth based lunar hopper

    Exact Feedback Linearization(Angles)

    Exact Linearization Control Law

    Plug Into Equations of Motion

    Now, linear control laws can be used with r as the virtual input


    State feedback control of the spacehawk earth based lunar hopper

    Approximate Feedback Linearization(Angles)

    Exact Linearization Control Law

    (highly nonlinear)

    Near δ = 0

    &

    Approximate Linearization Control Law (linear)


    Critically damped pd controller
    Critically-DampedPD Controller



    Control implementation
    Control Implementation

    Over-Actuated System Without Following Two Additional Constraints

    PWM

    Time


    Simulation
    Simulation

    3m

    10m

    A

    B


    Definitions1
    Definitions

    Red = Reference Signal, Blue = Exact, Green = Approximate


    Acknowledgements
    Acknowledgements

    Authors:

    Anthony Dzaba, Andrew Abraham, Evan Mucasey, Terry Hart, and Eugenio Schuster

    Funding Agencies:

    NASA PA Space Grant




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