| dc.description.abstract | The concept of using Satellite Formation Flight (SFF) reveals various benefits for a
space mission. However, relying on a consumable actuation system to maintain a
desired relative position and orientation between flying satellites has hindered its
practicality and feasibility for long duration missions. By adapting the SFF concept
such that electromagnetic actuation mechanism is employed, the concept of
Electromagnetic Formation Flight (EMFF) offers a great potential to validate such a
technology. EMFF provides interacting forces and torques between flying satellites
to maintain their relative position within a formation using its electromagnetic
actuation capabilities. This dissertation demonstrates the possibilities of utilizing a
vision-based positioning system, called Smartphone Video Guidance Sensor, for
performing autonomous navigation and electromagnetic formation flight between
dual vehicles of RINGS hardware. The study presented in this research aims to
perform the following: First, conducting experimental assessment tests to assess the
overall performance of positioning estimations of the SVGS sensor. Quantitative
analyses of the positioning errors of SVGS, which highlight its abilities to estimate
not only relative position but also relative velocity, were analyzed. The presented
statistical analyses compare both mean and standard deviation errors, where results
demonstrate how precise the SVGS can keep track of the relative position and
orientation for the moving target. Second, establishing the feasibility of a vision-based navigation and flight formation between two vehicles, where various path-following problems were demonstrated using the introduced vision-based system.
Optimal control technique, as well as optimal state estimator, were involved in the
design and formulation of the developed closed-loop system. Experimental results
highlight the capabilities of the implemented control systems and the developed
ducted-fan motion platform to perform experimentally a leader-follower based
formation flight, where maneuvers of position hold and path following were analyzed
and presented. Third, demonstrating the design and experimental implementation of
closed-loop axial position control for electromagnetic formation flight vehicles using
the alternative electromagnetic actuators of RINGS hardware. The experimental
setup for the EMFF tests aims to control the planar motion of a moving vehicle
relative to a stationary vehicle in a two-dimensional setup using typical robust control
methods. Overall, this dissertation experimentally proves the ability of the vision-based SVGS positioning system and the RINGS system to demonstrates successful
closed-loop EMFF position control between two flying vehicles. | en_US |
