Formation Control of Underactuated Satellite using Holonomy

Abstract

Formation of satellites is difficult to control because of their unique system called the non-holonomic systems. One of the ways to control the non-holonomic system is to use the holonomy that appears when the periodic input is given to the non-holonomic systems. In this study, the formation of underactuated satellite is controlled using the holonomy. The satellite used in this study is simplified 2-dimensional model with only thrusters to change positions and to change its attitude angle. Various pattern of periodic input gives the different holonomy to the system. By combining the patterns of the holonomy, the satellite is able to move around to designated places and attitude. These combinations of the holonomy can be applied to the system to correct the attitude or position errors. This study also enables the satellite to move the satellite in rest-to-rest motion in the formation flight of multiple satellites