Spacecraft Attitude Control Using the Invariant-Set Motion-Planner
Claus Danielson, Joseph Kloeppel, Christopher Petersen · IEEE Control Systems Letters · 2021
This letter adapts the invariant-set motion-planner for safe spacecraft attitude control. The invariant-set motion-planner is a motion-planning algorithm that uses the positive-invariant sets of the closed-loop dynamics to find a constraint admissible path to a desired target through an obstacle filled environment. We use the invariant-set motion-planner to plan a sequence of reference quaternion waypoints that safely guides the spacecraft attitude around keep-out cones to a desired orientation. Our main contribution is the use of parametric optimization to derive a computationally efficient method solving the non-convex safety certification optimization problem. The computational efficiency of our safety certification is demonstrated in a numerical example.