Table Of ContentLecture Notes in Control and Information Sciences 460
Eric Feron Editor
Advances in Control
System Technology
for Aerospace
Applications
Lecture Notes in Control and Information
Sciences
Volume 460
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Eric Feron
Editor
Advances in Control System
Technology for Aerospace
Applications
123
Editor
EricFeron
Schoolof Aerospace Engineering
Georgia Institute of Technology
Atlanta, GA
USA
ISSN 0170-8643 ISSN 1610-7411 (electronic)
Lecture Notesin Control andInformation Sciences
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Preface
On June 11 and 12, 2012, several engineers and researchers from industry and
academia met at the Georgia Institute of Technology to discuss the present and
future ofaerospacedecisionand control. Thisworkshop washostedby theSchool
of Aerospace Engineering and the Decision and Control Laboratory. Featured in
thisworkshopwereaircraftandspacecraftcontrolandautonomy,airtrafficcontrol
and management, and embedded software verification and validation. From this
workshop came the five essays printed thereafter.
Whetherfocusingonaeronauticalorspaceapplications,thedecisionandcontrol
sciencesoftodaylargelysupersedetheservomechanismtheorythatusedtobe,and
still is, taught in all aerospace undergraduate curricula. Yet, the concern for
mathematical rigor and safety present in even the most basic control course is the
fertile ground upon which new disciplines, such as autonomy, can develop with a
genuine concern for applicability to aerospace systems. In this volume, the reader
will find a broad variety of topics that all share highly dynamical, real-time, and
safety- or mission-critical decision-making as core elements.
When looking at the space adventure, the reader will see that autonomy is
becoming, de facto, the prime mechanism through which humanity can project its
mind and soul onto faraway, extraterrestrial destinations. In an increasingly tech-
nological world, the reader will, however, get some appreciation for the gap that
separates the extremely high promise of autonomy technology for aerial applica-
tions from our ability to understand it well enough to let it take over part of our
overhead traffic. Likewise, the reader will get an appreciation for the astonishing
range of control issues raised by air transportation, including optimal control,
queuing systems, and combinations of the above.
Professor Gary Balas understood, perhaps better than anyone else in the trade,
the vastly expanded scope that the decision and control sciences need to cover to
addressthechallengesthataerospaceengineeringfacestoday.Hepresidedoverthe
fast transformation of the aerospace decision sciences by fostering a climate of
opennesstowardthenewaerospacedecisionandcontrolsciences,whethertheyare
v
vi Preface
named autonomy, software analysis, air traffic control, or human-centric systems,
within his own University of Minnesota and the Department of Aerospace
EngineeringandMechanics,whichheledwithenthusiasmandhumor.Thisvolume
is dedicated to his memory.
Atlanta Eric Feron
March 2015
Contents
1 Spacecraft Autonomy Challenges for Next-Generation
Space Missions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Joseph A. Starek, Behçet Açıkmeşe, Issa A. Nesnas
and Marco Pavone
1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 High-Level Challenges and High-Priority
Technologies for Space Autonomous Systems . . . . . . 3
1.2 Relative Guidance Algorithmic Challenges for Autonomous
Spacecraft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.1 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.2 Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.3 State of the Art. . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.4 Challenges and Future Directions . . . . . . . . . . . . . . . 11
1.3 Extreme Mobility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3.1 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3.2 Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.3.3 State of the Art. . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.3.4 Challenges and Future Directions . . . . . . . . . . . . . . . 24
1.4 Microgravity Mobility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.4.1 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.4.2 Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.4.3 State of the Art. . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.4.4 Challenges and Future Directions . . . . . . . . . . . . . . . 35
1.5 Conclusions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2 New Guidance, Navigation, and Control Technologies
for Formation Flying Spacecraft and Planetary Landing . . . . . . . 49
Fred Y. Hadaegh, Andrew E. Johnson, David S. Bayard,
Behçet Açıkmeşe, Soon-Jo Chung and Raman K. Mehra
2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
vii
viii Contents
2.2 GN&C Technologies for Planetary Landing in Hazardous
Terrain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.2.2 Design Considerations. . . . . . . . . . . . . . . . . . . . . . . 52
2.2.3 Case Study 1: Mars Robotic System. . . . . . . . . . . . . 53
2.2.4 Case Study 2: Crewed Lunar System. . . . . . . . . . . . . 55
2.2.5 System Comparison . . . . . . . . . . . . . . . . . . . . . . . . 57
2.3 Phase Synchronization Control of Spacecraft Swarms . . . . . . . 58
2.3.1 Problem Statement—Controlling the Phase
Differences in Periodic Orbits. . . . . . . . . . . . . . . . . . 59
2.3.2 Phase Synchronization Control Law with Adaptive
Graphs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
2.3.3 Main Stability Theorems and Simulation Results . . . . 62
2.4 Application of Probabilistic Guidance to Swarms
of Spacecraft Operating in Earth Orbit. . . . . . . . . . . . . . . . . . 64
2.4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
2.4.2 Probabilistic Guidance Problem . . . . . . . . . . . . . . . . 65
2.4.3 Probabilistic Guidance Algorithm (PGA). . . . . . . . . . 66
2.4.4 Adaptation of PGA to Earth Orbiting Swarms . . . . . . 68
2.5 Nonlinear State Estimation And Sensor Optimization
Problems for Detection of Space Collision Events. . . . . . . . . . 70
2.5.1 LEO Sensor Constellation Design and Collision
Event Testbed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
2.5.2 Satellite Collision Modeling and Estimation. . . . . . . . 73
2.6 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3 Aircraft Autonomy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Piero Miotto, Leena Singh, James D. Paduano, Andrew Clare,
Mary L. Cummings and Lesley A. Weitz
3.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.1.1 Challenges to the Safe Integration of UAVs
in the National Airspace . . . . . . . . . . . . . . . . . . . . . 83
3.1.2 Technical Enhancements for Safe Insertion
of UAVs in the NAS . . . . . . . . . . . . . . . . . . . . . . . 84
3.2 On-Board Air Autonomy Systems Needs. . . . . . . . . . . . . . . . 86
3.2.1 Challenges to Integration of UAVs in the NAS . . . . . 86
3.2.2 Technical Enhancements for Improved In-Air
autonomy—Key Technologies . . . . . . . . . . . . . . . . . 87
3.2.3 Conclusions: A Road-Map to Address
the Technical Challenges. . . . . . . . . . . . . . . . . . . . . 89
3.3 Human-Automation Collaboration. . . . . . . . . . . . . . . . . . . . . 92
3.3.1 Challenges in the Collaborative Human-Automation
Scheduling Process. . . . . . . . . . . . . . . . . . . . . . . . . 92
Contents ix
3.3.2 Candidate Methods in Human-Automation
Collaborative Scheduling. . . . . . . . . . . . . . . . . . . . . 94
3.3.3 Technical Enhancements needed for Humans
Interactions with Scheduling Algorithms . . . . . . . . . . 95
3.3.4 Conclusions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
3.4 Autonomy Evolution for Air Traffic Control . . . . . . . . . . . . . 98
3.4.1 Challenges and Limitations of Current Air Traffic
Management System. . . . . . . . . . . . . . . . . . . . . . . . 99
3.4.2 Enhancements Made Within ATC System . . . . . . . . . 99
3.4.3 Technical Enhancements needed in the Evolution
of Airborne and Ground-Based Technologies. . . . . . . 101
3.4.4 Conclusions and Proposed Road-Map . . . . . . . . . . . . 103
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4 Challenges in Aerospace Decision and Control:
Air Transportation Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Hamsa Balakrishnan, John-Paul Clarke, Eric M. Feron,
R. John Hansman and Hernando Jimenez
4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.2 Key NextGen Topics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.3 Supporting Technology Research Challenges . . . . . . . . . . . . . 111
4.3.1 Design of Automation with Graceful
Degradation Modes. . . . . . . . . . . . . . . . . . . . . . . . . 112
4.3.2 System Verification and Validation (V&V) . . . . . . . . 112
4.3.3 Large-Scale, Real-Time Optimization Algorithms . . . . 113
4.3.4 Multi-Objective, Multi-Stakeholder, Optimization
Frameworks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
4.4 Domain-Specific Research Challenges. . . . . . . . . . . . . . . . . . 114
4.4.1 Airport Arrival Management . . . . . . . . . . . . . . . . . . 114
4.4.2 Airport Departure Processes. . . . . . . . . . . . . . . . . . . 116
4.4.3 The Trip is Not Over: Passenger Management
in the Terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . 120
4.4.4 Domain-Specific Contributions: Abstract Modeling
Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
5 From Design to Implementation: An Automated,
Credible Autocoding Chain for Control Systems . . . . . . . . . . . . . 137
Timothy Wang, Romain Jobredeaux, Heber Herencia,
Pierre-Loïc Garoche, Arnaud Dieumegard, Éric Feron
and Marc Pantel
5.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
5.2 Credible Autocoding Framework . . . . . . . . . . . . . . . . . . . . . 139
5.2.1 Input and Output Languages of the Framework . . . . . 141
