EMFFORCE Implementation method Reference point B ACtuation Reference IFormation Contro REquirements Reference RIsks [Scheduling Budgets MEtrology Each vehicle receives position and rate information from the other vehicles [tructure/Power Each vehicle has an identical controller Integration and should compute the same commands as the other vehicles based Conclusion on identical inputs CDIO3 Class Project Courtesy of 16.685 team October 2002 Department of Aeronautics and AstronautDepartment of Aeronautics and Astronautics 8 10/8/02 CDIO3 Class Project 1 EMFFORCE Implementation method Each vehicle receives position and rate information from the other vehicles Each vehicle has an identical controller and should compute the same commands as the other vehicles based on identical inputs Introduction Subsystems Actuation Formation Control Control Overview Requirements Risks Tasks Scheduling Budgets Metrology Electronics Structure/Power Integration Budgets Conclusion Reference point B α A α B α C AB r AC r Reference point A Reference point C θ AB A θ AC B C Courtesy of 16.685 team, October 2002