Development of a combined attitude and position controller for a satellite simulator

Formation flying is an emerging space technology which requires special facilities and methods for the purpose of GNC testing. This thesis documents the design and implementation of a combined position and attitude controller for a 5-DoF air bearing satellite simulator vehicle. Automated identification procedures were implemented and the relevant platform parameters— center of rotation, inertia tensor, thruster torque vectors— were identified. A static reference controller was developed as an intermediate step. Automated balancing procedures were also developed and applied, in order to eliminate a restricted class of gravity disturbances. Finally, a trajectory-following combined attitude and position controller was developed. To demonstrate its capabilities, a test was devised in which the vehicle moves around the experiment area while pointing a laser at a fixed target. The results obtained indicate all objectives were satisfactorily achieved