Kd

Declared in ROEFormationControllerSoftware

Declaration

[Unit("Hz")]
Vector3 Kd;

Description

Derivative gain vector for the PD controller. Each component corresponds to the radial (x), along-track (y), and cross-track (z) axes in the LVLH frame. Units: [1/s] = [Hz] (acceleration per velocity).

Default values are tuned for stable formation flying control:

• Base natural frequency: 20x orbital rate (~0.0216 rad/s for 7000 km orbit)
• Along-track (y) uses 2x multiplier to counteract orbital drift
• Critical damping (ζ=1.0) for optimal response