Run Time Assurance for Simultaneous Constraint Satisfaction During Spacecraft Attitude Maneuvering (2402.14723v1)
Abstract: A fundamental capability for On-orbit Servicing, Assembly, and Manufacturing (OSAM) is inspection of the vehicle to be serviced, or the structure being assembled. This research assumes autonomous slewing to maintain situational awareness of multiple vehicles operating in close proximity where several safety constraints must be satisfied. A variety of techniques may be used as the primary controller. The focus of this research is developing Run Time Assurance (RTA) filters that monitor system behavior and the output of the primary controller to enforce safety constraint satisfaction. Specifically, this research explores combining a subset of the constraints into an Active Set Invariance Filter (ASIF) RTA defined using control barrier functions. This method is minimally invasive to the primary control by minimizing deviation from the desired control output of the primary controller, while simultaneously enforcing all safety constraints. The RTA is designed to ensure the spacecraft maintains attitude requirements for communication and data transfer with a ground station during scheduled communication windows, adheres to conical attitude keep out zones, limits thermally unfavorable attitude duration, maintains attitude requirements for sufficient power generation, ensures maneuvers are below threshold to cause structural damage, ensures maximum angular velocity is below limits to maintain ability to respond quickly to new slewing commands, and conserves actuator use to prevent wear when possible. Slack variables are introduced into the ASIF controller to prioritize safety constraints when a solution to all safety constraints is infeasible. Monte Carlo simulation results as well as plots of example cases are shown and evaluated for a three degree of freedom spacecraft with reaction wheel attitude control.
- United Nations Office for Outer Space Affairs, “Online index of objects launched into outer space,” accessed: 2023-07-03. [Online]. Available: https://www.unoosa.org/oosa/osoindex/search-ng.jspx
- D. Arney, R. Sutherland, J. Mulvaney, D. Steinkoenig, C. Stockdale, and M. Farley, “On-orbit servicing, assembly, and manufacturing (osam) state of play,” 2021.
- K. L. Hobbs, A. R. Collins, and E. M. Feron, “Risk-based formal requirement elicitation for automatic spacecraft maneuvering,” in AIAA Scitech 2021 Forum, 2021, p. 1122.
- K. L. Hobbs, M. L. Mote, M. C. Abate, S. D. Coogan, and E. M. Feron, “Runtime assurance for safety-critical systems: An introduction to safety filtering approaches for complex control systems,” IEEE Control Systems Magazine, vol. 43, no. 2, pp. 28–65, 2023.
- L. R. Hook, M. Skoog, M. Garland, W. Ryan, D. Sizoo, and J. VanHoudt, “Initial considerations of a multi-layered run time assurance approach to enable unpiloted aircraft,” in 2018 IEEE Aerospace Conference. IEEE, 2018, pp. 1–11.
- K. Dunlap, M. Mote, K. Delsing, and K. L. Hobbs, “Run time assured reinforcement learning for safe satellite docking,” Journal of Aerospace Information Systems, vol. 20, no. 1, pp. 25–36, 2023.
- K. Dunlap, D. van Wijk, and K. L. Hobbs, “Run time assurance for autonomous spacecraft inspection,” arXiv preprint arXiv:2302.02885, 2023.
- A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs for safety critical systems,” IEEE Transactions on Automatic Control, vol. 62, no. 8, pp. 3861–3876, 2016.
- W. S. Cortez, D. Oetomo, C. Manzie, and P. Choong, “Control barrier functions for mechanical systems: Theory and application to robotic grasping,” IEEE Transactions on Control Systems Technology, vol. 29, no. 2, pp. 530–545, 2019.
- S.-C. Hsu, X. Xu, and A. D. Ames, “Control barrier function based quadratic programs with application to bipedal robotic walking,” in 2015 American Control Conference (ACC). IEEE, 2015, pp. 4542–4548.
- K. Dunlap, M. Hibbard, M. Mote, and K. Hobbs, “Comparing run time assurance approaches for safe spacecraft docking,” IEEE Control Systems Letters, vol. 6, pp. 1849–1854, 2021.
- Y.-Y. Wu and H.-J. Sun, “Attitude tracking control with constraints for rigid spacecraft based on control barrier lyapunov functions,” IEEE Transactions on Aerospace and Electronic Systems, vol. 58, no. 3, pp. 2053–2062, 2021.
- T. Gurriet, M. Mote, A. D. Ames, and E. Feron, “An online approach to active set invariance,” in 2018 IEEE Conference on Decision and Control (CDC). IEEE, 2018, pp. 3592–3599.
- A. D. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath, and P. Tabuada, “Control barrier functions: Theory and applications,” in 2019 18th European control conference (ECC). IEEE, 2019, pp. 3420–3431.
- M. Nagumo, “Über die lage der integralkurven gewöhnlicher differentialgleichungen,” Proceedings of the Physico-Mathematical Society of Japan. 3rd Series, vol. 24, pp. 551–559, 1942.
- W. Xiao, C. G. Cassandras, C. A. Belta, and D. Rus, “Control barrier functions for systems with multiple control inputs,” in 2022 American Control Conference (ACC). IEEE, 2022, pp. 2221–2226.
- G. W. Hill, “Researches in the lunar theory,” American journal of Mathematics, vol. 1, no. 1, pp. 5–26, 1878.
- C. D. Petersen, K. Hobbs, K. Lang, and S. Phillips, “Challenge problem: assured satellite proximity operations,” in 31st AAS/AIAA Space Flight Mechanics Meeting, 2021.
- I. Foster and Air Force Research Laboratory, “Small satellite thermal modeling guide,” 2022.
- A. Garzón and Y. A. Villanueva, “Thermal analysis of satellite libertad 2: a guide to cubesat temperature prediction,” Journal of Aerospace Technology and Management, vol. 10, p. e4918, 2018.
- “Power Systems - Blue Canyon Technologies,” 2022, accessed: 2023-07-13. [Online]. Available: https://www.bluecanyontech.com/static/datasheet/BCT_DataSheet_Components_PowerSystems.pdf
- U. J. Ravaioli, K. Dunlap, and K. Hobbs, “A universal framework for generalized run time assurance with jax automatic differentiation,” in 2023 American Control Conference (ACC). IEEE, 2023, pp. 4264–4269.