Abstract
Additional actuator motion, constrained to the null-space of the Reaction Wheel Array (RWA) of an over-actuated spacecraft, can be exploited for learning system parameters without inducing large perturbations to the controlled body (e.g., spacecraft bus). In this paper a receding horizon optimization approach is developed to generate such a null-motion excitation (NME) that facilitates the identification of the actuator misalignments with perturbations that are local to the nominal trajectory and decreasing with the decrease in size of the parameter estimation error. The receding horizon approach minimizes an objective function that penalizes the parameter error covariance and the null-motion excitation. The potential of the receding horizon approach to outperform the baseline null motion excitation algorithm proposed in an earlier publication is demonstrated through simulations.
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Weiss, A., Leve, F., Kolmanovsky, I.V., Jah, M. (2015). Reaction Wheel Parameter Identification and Control through Receding Horizon-Based Null Motion Excitation. In: Choukroun, D., Oshman, Y., Thienel, J., Idan, M. (eds) Advances in Estimation, Navigation, and Spacecraft Control. ENCS 2012. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44785-7_25
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DOI: https://doi.org/10.1007/978-3-662-44785-7_25
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