Author ORCID Identifier

Year of Publication


Degree Name

Master of Science in Mechanical Engineering (MSME)

Document Type

Master's Thesis




Mechanical Engineering

First Advisor

Dr. Jesse B. Hoagg


This thesis presents a decentralized electromagnetic formation flying (EMFF) control method using frequency-multiplexed sinusoidal control signals. We demonstrate the EMFF control approach in open-loop and closed-loop control experiments using a single-degree-of-freedom testbed with an electromagnetic actuation system (EAS). The EAS sense the relative position and velocity between satellites and implement a frequency-multiplexed sinusoidal control signal. We use a laser-rangefinder device to capture the relative position and an ARM-based microcontroller to implement the closed-loop control algorithm. We custom-design and build the EAS that implements the formation control in one dimension. The experimental results in this thesis demonstrate the feasibility of the decentralized formation control algorithm between two satellites.

Digital Object Identifier (DOI)

Funding Information

This research work is supported and funded by National Aeronautics and Space Administration (80NSSC17M0040). The funding was granted in the year 2017 to the Department of Mechanical Engineering at the University of Kentucky.

clsat1.pdf (33 kB)
Program used to run experiments on the first electromagnetic actuation system

clsat2.pdf (34 kB)
Program used to run experiments on the second electromagnetic actuation system

Photo of the test bed