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Meeting	ACGS Committee Meeting 107 - Boulder - March 2011
Agenda Location	5 SUBCOMMITTEE B – MISSILES AND SPACE 5.3 Minimum Time Slew Maneuvers with the TRACE Spacecraft
Title	Minimum Time Slew Maneuvers with the TRACE Spacecraft
Presenter	Mark Karpenko
Affiliation	Naval Post Graduate School
Available Downloads*	presentation
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Abstract	Mark Karpenko, Andy Fleming, and I. Michael Ross Department of Mechanical and Aerospace Engineering Naval Postgraduate School Monterey, CA 93943 Nazareth S. Bedrossian and Sagar A. Bhatt Draper Laboratories Houston, TX 77058 Osvaldo O. Cuevas, Mark A. Baugh, Ken L. Lebsock, Scott T. Snell, David A. Bradley, Steven W. Etchison, and Khary J. Johnson NASA Goddard Space Flight Center Greenbelt, MD 20771 Abstract During the month of August 2010, the TRACE spacecraft successfully executed a series of on-orbit minimum-time slew maneuvers. These minimum-time maneuvers were completed faster than the equivalent slew about an eigenaxis. The non-eigenaxis slews were designed to allow the spacecraft to fully exploit the available control authority. In this context, the minimum-time slew maneuvers can be viewed as a space systems analog to Bernoulli’s famous brachistochrone problem – proving that the fastest path is not always the shortest path. When a sequence of operationally-relevant, minimum-time slew maneuvers are strung together, the spacecraft performs an elegant dance as it follows each non-eigenaxis path. This departure from current operational practice was made possible through a number of recent advances in optimal control theory and pseudospectral methods that make it possible to seamlessly incorporate practical constraints, such as nonlinear actuator limits and other existing control system characteristics, as part of the optimal control problem. Without this ability, it would be virtually impossible to assure that the minimum-time slews could be developed and successfully executed on-orbit. This presentation will discuss the implementation and results of these historic maneuvers as well as some implications on operationalizing optimal maneuvering for current and future space systems. The presentation will also discuss some additional applications of the new methodology in other areas including obstacle avoidance for air vehicles and cooperative motion planning for multiple robotic manipulators operating in close proximity.