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New Hardware-in-the-Loop Testing Concept for Small Satellite Formation Control Based on Mobile Robot Platforms

机译：基于移动机器人平台的小型卫星编队控制在环测试新概念

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Abstract: This paper presents a new concept for hardware-in-the-loop testing of formation flying control of small satellites. Instead of commonly used mobile units based on air cushion principle moving on a frictionless surface, units based on wheeled mobile robots are proposed. Recent formation flying missions as well as presumable future applications are used to derive requirements for formation control algorithms and to justify according test demands. Common concepts of formation control testbeds are presented by examples and analyzed with respect to their value for evaluating the derived control needs, especially with respect to small satellites. Their assets and drawbacks are outlined. In order to complement the drawbacks the new testbed concept is derived. Its benefits, especially scalability, long-term and high-precision simulations, are depicted. Last, a combination of the mobile robot based testbed concept with stationary robotic manipulators with 6 degrees of freedom is proposed to add 3D out-of-plane motion for particular satellites and thus enabling 3D formation scenarios.
机译：摘要：本文提出了一种用于小卫星编队飞行控制的硬件在环测试的新概念。代替基于气垫原理的常用移动单元在无摩擦表面上移动，提出了基于轮式移动机器人的单元。最近的编队飞行任务以及可能的未来应用程序可用于得出编队控制算法的要求，并根据测试需求进行论证。通过示例介绍了编队控制试验台的通用概念，并就其价值进行了分析，以评估得出的控制需求，尤其是小型卫星。概述了它们的优点和缺点。为了弥补这些缺点，派生了新的测试平台概念。描述了它的好处，尤其是可伸缩性，长期和高精度仿真。最后，提出了将基于移动机器人的测试平台概念与具有6个自由度的固定机器人操纵器相结合的方法，以为特定卫星添加3D平面外运动，从而实现3D编队场景。

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