Autonomous control for on-orbit assembly using artificial potential functions

Current spacecraft mission analysis has highlighted a requirement for the assembly of large structures in Earth Orbit. This thesis investigates an autonomous method of assembly for such large structures. The scheme envisaged is based on Lyapunov's method which is extended to potential function theory. The method forms an analytical solution to the assembly problem by generating high level control commands which are then devolved to individual actuator commands for the assembly vehicles. The application of the method to general assembly problems has allowed the development of a generic global potential function. The application of the global potential function has required the use of a connectivity matrix which contains the information required to assemble the goal structure. Thus, a structure may be modified by altering only the characteristics of the connectivity matrix. The generic assembly method is then applied using a subsumptive type architecture which allows the assembly controller to delegate sub-components of the total structure to secondary controllers. Therefore, the method may then be utilised to construct complex structures, which, when linked to the use of smart components and joints allows the assembly of adaptive structures. These adaptive and variable topology structures which may change their functionality with time may prove useful for future mission applications.