Hardware-in-the-Loop Simulation for Spacecraft Formation Flying

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="572526.fig.006a" src="https://static.hindawi.com/articles/jcse/volume-2010/572526/figures/572526.fig.006a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Three-dimensional relative trajectory</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="572526.fig.006b" src="https://static.hindawi.com/articles/jcse/volume-2010/572526/figures/572526.fig.006b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Position error in <svg height="7.1624999" id="M82" style="vertical-align:-0.11285pt" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.1625)">
<g transform="translate(72,-66.27)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑥</tspan>
</text>
</g>
</g>
</svg>-axis</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="572526.fig.006c" src="https://static.hindawi.com/articles/jcse/volume-2010/572526/figures/572526.fig.006c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Position error in <svg height="9.8625002" id="M83" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 7.875 9.8625002" width="7.875" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.8625)">
<g transform="translate(72,-64.11)">
<text transform="matrix(1,0,0,-1,-71.95,66.45)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑦</tspan>
</text>
</g>
</g>
</svg>-axis</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="572526.fig.006d" src="https://static.hindawi.com/articles/jcse/volume-2010/572526/figures/572526.fig.006d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Position error in <svg height="7.375" id="M84" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.375)">
<g transform="translate(72,-66.1)">
<text transform="matrix(1,0,0,-1,-71.95,66.32)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑧</tspan>
</text>
</g>
</g>
</svg>-axis</td></tr></table></td></tr><tr class="fig-image" id="e"><td><img alt="572526.fig.006e" src="https://static.hindawi.com/articles/jcse/volume-2010/572526/figures/572526.fig.006e.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(e) </b>Control signal in <svg height="7.1624999" id="M85" style="vertical-align:-0.11285pt" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.1625)">
<g transform="translate(72,-66.27)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑥</tspan>
</text>
</g>
</g>
</svg>-axis</td></tr></table></td></tr><tr class="fig-image" id="f"><td><img alt="572526.fig.006f" src="https://static.hindawi.com/articles/jcse/volume-2010/572526/figures/572526.fig.006f.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(f) </b>Control signal in <svg height="9.8625002" id="M86" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 7.875 9.8625002" width="7.875" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.8625)">
<g transform="translate(72,-64.11)">
<text transform="matrix(1,0,0,-1,-71.95,66.45)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑦</tspan>
</text>
</g>
</g>
</svg>-axis</td></tr></table></td></tr><tr class="fig-image" id="g"><td><img alt="572526.fig.006g" src="https://static.hindawi.com/articles/jcse/volume-2010/572526/figures/572526.fig.006g.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(g) </b>Control signal in <svg height="7.375" id="M87" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.375)">
<g transform="translate(72,-66.1)">
<text transform="matrix(1,0,0,-1,-71.95,66.32)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑧</tspan>
</text>
</g>
</g>
</svg>-axis</td></tr></table></td></tr></table>

<table>Simulation results using Fuzzy Logic control (control interval: 1000 seconds; maximum firing time: 2 seconds).</table>

Journal of Control Science and Engineering

Hardware-in-the-Loop Simulation for Spacecraft Formation Flying

Figure 6