Circular Restricted Three Body Model

Space Systems Lectures

Pierpaolo Pergola
Chiara Finocchietti


p.pergola@altaspace.com
Pisa, November 2012 c.finocchietti@altaspace.com
Introduction
The general problem of Three Bodies
Reference Frame
Jacobi & Hill
Libration Points
Equilibrium Region
Periodic Orbits
Manifolds
Manifolds Structures
Poincar Sections
Prescribed Itineraries
Contents
Law of Universal Gravitation ( inverse square distance force law ):

in which:

Neglecting any other action, the motion of n bodies under their
mutual gravity fields is ruled by the law of universal gravitation:




respect to an inertial reference system

nbody Problem
F
g
! " !
j !i
= "G
m
i
m
j
r
ji
3
r
!
ji
d
2
r
!
i
dt
2
= !G
m
j
r
ji
3
(r
!
i !r
!
j )
j =1
j "i
n
#
Y
Z
X
r
2
r
n
r
1
r i
M
1
M
2
M
n
M
i
F
g
n
F
g
2
F
g 1
G = 6.6726!10
"11
m
3
kg# s
2
!
r
ji
=
!
r
i
"
!
r
j
i =1,..., n
n=2 Analytic solutions exist (Classical Keplerian motion)
n=3 Analytic solutions exist only in configurations of the 3
bodies in which the distances are instantaneously constant
(straight line, equilateral triangle and eightshape curve)
n>3 No analytic solutions


Generally, the problem of n!3 bodies is solved
by numerically integrating the differential equations of motion and
introducing some simplifications
(e.g. hypothesis on the mass or motion of the bodies)
nbody Problem
n=3 and no other forces

The General Three Bodies Problem
Three particles with arbitrary masses attract each other according
to the universal law of gravitation; they are free to move in space and
are initially moving in any given manner; find their motion

1 simplification: to study the motion of a small mass that does not
affect the motion of two more massive attractors (primaries).


Two massive bodies move in space under the influence of their
mutual gravitational attraction; describe the motion of a third very
less massive body attracted by the previous two but not
influencing their motion.




General and Restricted Threebody Problem
The Restricted Three Body Problem
2 simplification: to consider the two primaries revolving in the same
plane around the common center of mass on circular orbits (with
the same angular velocity).








Circular Restricted Threebody Problem
The Circular Restricted Three Body
Problem (CR3BP)
Two bodies revolve around their center of
mass in circular orbits under the influence of
their mutual gravitational attraction; describe
the motion of a third body attracted by the
previous two but not influencing their
motion.

The approximately circular motion of the planets around the Sun
and the small masses of the asteroids and satellites compared to
planetary masses suggested the formulation of the CR3BP.

Brief History:
Formulated by Euler in 1767: dynamics and 3 equilibria;
Few years later Lagrange (1772) determined other 2 equilibria;
In 1836 Jacobi discovered the integral of the motion in the
synodic (rotating) reference system;
Poincar (1899) investigated about stability and qualitative
characteristics.
Circular Restricted Threebody Problem
Assumptions:
Only three bodies and no other forces 3-Body Problem
m
3
<<m
2
<m
1
Restricted
Circular motion of the two main bodies around the center of
mass of the system of two masses that they set up Circular

Main features:
Allowed and forbidden regions for the motion
One integral of motion (w.r.t. the synodic frame): the energy
Equilibrium (Libration) points
Periodic orbits around the stationary points
Ballistic trajectories associated with periodic solutions

Circular Restricted Threebody Problem
Three bodies of arbitrary mass move under their mutual gravity
interactions. Determine the motion of the three masses given an
arbitrary set of initial conditions.
Also m
3
modifies the motion of m
1
and m
2
(arbitrary masses).
m
1
and m
2
do not follow a specific path (e.g. circular).


Drawbacks:
In mission analysis the complete (and complex) problem has more
limited applications than its simplified version.
Few applications in celestial mechanics (multiple star systems).
The General Problem of Three Bodies
General problem setting:
Equations of motion can be written by using the force function F
that gives on the right-hand side the forces acting on a body due to
the presence of the other two masses:
The General Problem of Three Bodies
m
i
!
""
r
i
=
!F
!
!
r
i
i =1, 2,3
with F = k
2
m
1
m
2
|
!
r
21
|
+
m
2
m
3
|
!
r
32
|
+
m
3
m
1
|
!
r
13
|
"
#
$
$
%
&
'
'
Gaussian gravitational constant:
k = GM
sun
= 0.01720209895
A
3/2
S
1/2
D
A: astronomical unit
D: mean solar day
S: Sun mass
!
r
1
= (q
1
,q
2
,q
3
)
!
r
2
= (q
4
,q
5
,q
6
)
!
r
3
= (q
7
,q
8
,q
9
)
!
"
#
$
#
%
!
r
21
=
!
r
1
&
!
r
2
!
r
32
=
!
r
2
&
!
r
3
!
r
13
=
!
r
3
&
!
r
1
!
"
#
$
#
The General Problem of Three Bodies
In the general nbody problem the set of first order differential
equations depend on the number n of bodies 6n Eqs.
The general problem of three bodies is described by:
3 second order Eqs. for r
i

9 second order Eqs. for q
i

18 first order Eqs. for q
i

The CR3BP requires 6 first order differential Eqs. (4 for the
PCR3BP), since only the m
3
motion is studied.
The General Problem of Three Bodies
!
r
i
!m
i
!
"
r
i
i =1
3
"
=
!
c
m
i
!
"
r
i
!
#
""
r
i
dt =
"
i =1
3
#
$F
$
!
r
i
!
!
"
r
i
dt
"
i =1
3
#
m
1
!
"
r
1
2
+m
2
!
"
r
2
2
+m
3
!
"
r
3
2
= 2F %C
m
i
!
"
r
i
=
!
a
i =1
3
!
m
i
!
r
i
=
!
at +
!
b
i =1
3
!
"
#
$
$
%
$
$
6 first integrals
3 first integrals

Without external forces the
center of mass moves of
rectilinear uniform motion.
Without external forces the
angular momentum of the
system is conserved.
The total energy of the
system is conserved.
The 18th-order system is reducible to a 8th-order system by means
of the first integrals of the motion.
First integrals of the nbody problem are 10, regardless from the
number of bodies:

1 first integral
The generic unconstrained system of n bodies requires 6n first
integrals for the integrability. 10 are given.

If n=2, the order of the system is reduce to 2 by the 10 classical first
integrals and the solutions are computed by quadrature imposing
the initial conditions ( ):
Integrating :


Substituting in and integrating:

The General Problem of Three Bodies
1
2
( ! r
2
+r
2
!
!
2
) !

r
=" = const
r
2
!
! = h = const
!(t ) =
h
r
2
(t )
dt
t
0
t
!
+!
0
r
2
!
! = h
t !t
0
=
1
2
1
! +

r
!
h
2
r
2
r
0
r
"
dr
!
0
, r
0
Burns, Painlev and Poincar proved that do not exist other first
integrals independent in involution on these 10. All the others are
dependent.

The nbody problem with n!3 can not be integrated via first
integrals and quadrature.
10 first integrals are given.
The 6 first integrals related to the motion of the center of mass are
used to place the center of mass in the origin of an inertial
reference system.
The remaining 4 first integrals are the only available to integrate the
system.
Numerical integrations are always possible (today up to n=10
7
).
The General Problem of Three Bodies
The existence of solution is assured by the Cauchy theorem, locally
in the neighborhood of a regular point.
Semianalytic and computeraided methods allow to identify
special solutions also for very long (but limited) time intervals.
Such direct solutions can be implemented only for given initial
conditions, but they do not represent general solutions.
A general solution would consist of a set of 3n couples (one for
each position and velocity coordinate) of linearly independent
functions satisfying the system for a generic time instant and a set of
6n constants given by the initial conditions.
The General Problem of Three Bodies
From the general to the restricted three body problem:

Additional integration constants (the primaries motion) are
introduced.

Assuming m
3
=0:
Decouples the equations for the primaries motion.
Causes the m
3
equation to be useless (0=0) the true
assumption is to consider m
3
very small, such that it does not
affect the motion of m
1
and m
2
, but !0.
The General Problem of Three Bodies
Further reduction of the system from 8th to 6th order
With the previous assumptions the system of equations becomes:







The degree of approximation of the R3BP dynamical system
depends on the smallness of the terms



The Restricted Problem of Three Bodies
Uncoupled from the third eq.
Solving:
!
""
r
1
= !k
2
m
2
!
r
1
!
!
r
2
|
!
r
1
!
!
r
2
|
3
!
""
r
2
= !k
2
m
1
!
r
2
!
!
r
1
|
!
r
2
!
!
r
1
|
3
!
""
r
3
= !k
2
m
1
!
r
3
!
!
r
1
|
!
r
3
!
!
r
1
|
3
+k
2
m
2
!
r
2
!
!
r
3
|
!
r
2
!
!
r
3
|
3
!
r
1
(t )
!
r
2
(t )
6 first order differential
equations of the R3BP
m
3
!
r
3
!
!
r
1
|
!
r
3
!
!
r
1
|
3
, m
3
!
r
2
!
!
r
3
|
!
r
2
!
!
r
3
|
3
compared
rispectively to
the terms
m
2
!
r
1
!
!
r
2
|
!
r
1
!
!
r
2
|
3
, m
1
!
r
1
!
!
r
2
|
!
r
1
!
!
r
2
|
3
In an inertial frame, it is required a balancing between gravitational
and centrifugal forces to have the primaries in circular motion
around their center of mass:
The Circular Restricted Problem of Three Bodies
k
2
m
1
m
2
l
2
= m
2
an
2
= m
1
bn
2
k
2
m
1
= an
2
l
2
k
2
m
2
= bn
2
l
2
k
2
(m
1
+m
2
) = n
2
l
3
n =
mG
a
3
Third Kepler law
= Angular velocity or mean motion
Considering a force function the equations ruling m
3
can be written
as:

with:

Due to the time dependence of the m
1
and m
2
coordinates, the
time appears explicitly in the equations of motion:
Limits of an Inertial Frame
d
2
X
dt
*2
=
!F
!X
d
2
Y
dt
*2
=
!F
!Y
d
2
Z
dt
*2
=
!F
!Z
"
#
$
$
%
$
$
X
1
= b cos(nt *) X
2
= !a cos(nt *)
Y
1
= b sin(nt *)
Z
1
= 0
Y
2
= !a sin(nt *)
Z
2
= 0
"
d
2
X
dt
*2
=
#F ( X ,Y ,t
*
)
#X
d
2
Y
dt
*2
=
#F ( X ,Y ,t
*
)
#Y
d
2
Z
dt
*2
=
#F ( X ,Y ,t
*
)
#Z
$
%
&
&
&
'
&
&
&
F = k
2
(m
1
R
1
+m
2
R
2
)
R
1
= ( X ! X
1
)
2
+(Y !Y
1
)
2
R
2
= ( X ! X
2
)
2
+(Y !Y
2
)
2
Negative Potential
The primaries appear at rest in a synodic frame rotating along with
them in such a frame they have zero velocity.




The synodictoinertial coordinate transformation is given by a
simple time dependent rotation around the z axis:
Rotating Frame
X
Y
Z
!
"
#
#
#
$
%
&
&
&
= A
t
*
'
x
y
z
!
"
#
#
#
$
%
&
&
&
!
X
!
Y
!
Z
!
"
#
#
#
$
%
&
&
&
= A
t
*
'
! x ( y
! y + x
! z
!
"
#
#
#
#
$
%
&
&
&
&
where A
t
*
=
cos(nt
*
) (sin(nt
*
) 0
sin(nt
*
) cos(nt
*
) 0
0 0 1
!
"
#
#
#
#
$
%
&
&
&
&
Synodic reference with:
the origin in the center of mass of
the primaries (G);
(x,y) defining the plane of motion
of the primaries;
x axis connecting the primaries;
m
2
<m
1
along the positive x axis.
G, x, y, z
{ }
In order to have general equations, units are scaled choosing:
m
1
+ m
2
as the mass unit (MU).
the mean distance, l , between m
1
and m
2
as distance unit (DU).
the time unit (TU) such that the period of m
1
and m
2
around
their center of mass is 2!.
From these it follows that:
G=1;
"=1, " is the angular velocity of the system and of primaries.

To obtain dimensional values:
Nondimensionalization
d [Km] = ld [DU ] v
Km
s
!
"
#
$
%
&
=V v
DU
TU
!
"
#
$
%
&
t [s ] =
T
2!
'
(
)
*
+
,
t [TU ]
Mass Unit 1 MU=m
1
+m
2
Distance Unit 1 DU= l
Time Unit 1 TU= T/2"
Let us assume .
A restricted three body model can be identified by means of a
single parameter, the mass parameter:



Due to the balancing between gravitational and centrifugal forces
there is a strong relation between masses and distances:
The Mass Parameter
m
1
> m
2
!m
3
m
2
=
m
1
=1!

1
= m
1
(m
1
+m
2
) = b l

2
= m
2
(m
1
+m
2
) = a l
!
1
+
2
=1
Two body problem: =0 Sun(Earth+Moon): =3. 036 x 10
6

EarthMoon: =1. 215 x 10
2
SunJupiter: =9. 537 x 10
4
m
2
in (1!,0,0)
m
1
in (!,0,0)
2
1 2
1
0,
2
m
m m

! "
= #
$ %
+
Kinetic energy:

Gravitational potential energy (independent from the reference
frame):



where r
1
and r
2
are the distances
of m
3
from m
1
and m
2
:

Note: the
gravitational
potential of a
point mass is:


Equations of Motion: Lagrangian Approach
T =
1
2
(
!
X
2
+
!
Y
2
+
!
Z
2
) =
1
2
[( ! x ! y )
2
+( ! y + x )
2
+ ! z
2
]
r
1
2
= (x +)
2
+ y
2
+ z
2
r
2
2
= (x !1+)
2
+ y
2
+ z
2
!









#
r
1
r
2
M
1
M
2
P
1!
U = !
(1!)
r
1
!

r
2
!
1
2
(1!)
Conventional constant
(not affecting eqs. of
motion)
Gravitational potential
due to m
2

Gravitational potential
due to m
1
V =
Gm
r
The Lagrangian of the system is just an expression of its total
energy and in the rotating frame it reads:
The EulerLagrange equations rule the evolution of L, thus
provide the Eqs. of motion (q
i
are the generalized coordinates):

These Eqs. have to be specialized to the Lagrangian under
consideration where the generalized coordinates in the rotating
frame are 6: .
Equations of Motion: Lagrangian Approach
L(x, y, z , ! x, ! y, ! z ) =T !U =
1
2
[( ! x ! y )
2
+( ! y + x )
2
+ z
2
]+
1!
r
1
+

r
2
+
1
2
(1!)
d
dt
!L
! ! q
i
"
!L
!q
i
= 0
x, y, z , ! x, ! y, ! z
The Eqs. take the form:





These can be rewritten as a set of time independent 3 scalar Eqs. of
the second order or 6 scalar Eqs. of the first one :
Equations of Motion: Lagrangian Approach
q
1
= x !
d
dt
"L
"v
x
#
"L
"x
= 0 !
d
dt
( ! x # y ) = ! y + x #U
x
q
2
= y !
d
dt
"L
"v
y
#
"L
"y
= 0 !
d
dt
( ! y # x ) = #( ! x # y ) #U
y
q
3
= z !
d
dt
"L
"v
z
#
"L
"z
= 0 !
d
dt
( ! z ) = #U
z
!! x !2 ! y ="
x
!! y +2 ! x ="
y
!! z = "
z
! x =v
x
! v
x
= 2v
y
+!
x
! y =v
y
! v
y
="2v
x
+!
y
! z =v
z
! v
z
=!
z
Equations of motion in Lagrangian formulation
Equations of motion are expressed by means of derivatives of an
Effective Potential. It is composed by a centrifugal term and a
gravitational one:

Extension of the gravitational potential to the rotating frame.
The total energy E in the synodic frame is:

Equations of Motion: Lagrangian Approach
!(x, y, z ) =
1
2
(x
2
+ y
2
) "U (x, y, z )=
1
2
(x
2
+ y
2
) +
1"
r
1
+

r
2
+
1
2
(1")
Centrifugal potential Gravitational potential
E =T
rel
!"=
1
2
( ! x
2
+ ! y
2
+ ! z
2
) !"(x, y, z )
The Legendre Transformation provides the passage from the
Lagrangian to the Hamiltonian formulation:

Once H is known, the canonical equations are directly applicable:

For the problem under consideration these reduce to:



Equations of Motion: Hamiltonian Approach
p
i
=
!L
! ! q
i
; H (q
i
, p
i
) = p
i
! q
i
!
" L(q
i
, ! q
i
)
! q
i
=
!H
!p
i
! p
i
= !
"H
"q
i
Conjugate
Momenta
q
1
= x p
1
= p
x
=
!L
! ! x
= ! x " y
q
2
= y p
2
= p
y
=
!L
! ! y
= ! y + x
q
3
= z p
3
= p
z
=
!L
! ! z
= ! z

Thus, the Hamiltonian of the CR3BP in the synodic frame does
not depend on the time explicitly:


Eqs. of the CR3BP obtained by the Hamiltonian approach are 6
autonomous differential equations already at the first order :
Equations of Motion: Hamiltonian Approach
H (x, y, z , p
x
, p
y
, p
z
) = p
x
! x + p
y
! y + p
z
! z ! L
=
1
2
(( p
x
+ y )
2
+( p
y
! x )
2
+ p
2
z
) !"(x, y, z )
! x = p
x
+ y ! p
x
= p
y
! x +"
x
! y = p
y
! x ! p
y
=! p
x
! y +"
y
! z = p
z
! p
z
= "
z
The Lagrangian and Hamiltonian formulations are equivalent and
give both an autonomous system:
Conjugate momenta have been introduced instead of velocities.
The phase space size is unaffected, just some variables are replaced
the system of motion is a 6 dimensional dynamical system
in either or .

Equations of Motion: Hamiltonian Approach
! x = p
x
+ y ! p
x
= p
y
! x +"
x
! y = p
y
! x ! p
y
=! p
x
! y +"
y
! z = p
z
! p
z
= "
z
! x =v
x
! v
x
= 2v
y
+!
x
! y =v
y
! v
y
=!2v
x
+"
y
! z =v
z
! v
z
=!
z
(x, y, z , ! x, ! y, ! z ) (x, y, z , p
x
, p
y
, p
z
)
The Eqs. of motion reveal the symmetries of the CR3BP:
W.r.t. the(x,y) plane:
[x(t),y(t),z(t)] is solution [x(t),y(t),z(t)] is solution

W.r.t. the (x,z) plane for inverting times:
[x(t),y(t),z(t)] is solution [x(t),y(t),z(t)] is solution
W.r.t. to the mass parameter changing #1 :
[x(t),y(t),z(t)] is solution for [x(t),y(t),z(t)] is solution for 1.
Equations of Motion: Symmetries
The PCR3BP is defined in a 4D phase space .
The CR3BP is defined in a 6D phase space .

The equations are autonomous.
Consequence of the formulation in the synodic frame.
H is first integral for a canonical autonomous system.
E is always conserved as the gravity is conservative (E is the first
integral following the Lagrangian approach).
E and H are expressions of the same quantity conserved along the
motion in the rotating frame: E is the total energy as a function of
positions and velocities, H is the total energy as a function of
positions and momenta.
Eqs. of Motion: First Integral
(x, y, ! x, ! y )
(x, y, z , ! x, ! y, ! z )
Let us compute the following:


This means that C is conserved along the motion in rotating frame:
Is C different from H (or E)?

The smaller the energy, the larger the Jacobi Constant.
Equations of Motion: First Integral
d
dt
( ! x
2
+ ! y
2
+ ! z
22
) = 2( ! x!! x + ! y!! y + ! z!! z ) =
= 2[ ! x (2 ! y +!
x
) + ! y ("2 ! x +!
y
) + ! z!
z
] = 2
d
dt
(!) #
d
dt
("2T
rel
+2!) = 0
E =T
rel
!"=
1
2
( ! x
2
+ ! y
2
+ ! z
2
) !"(x, y, z )
C (x, y, z , ! x, ! y, ! z ) = !( ! x
2
+ ! y
2
+ ! z
2
) +2"
2 C E = !
C (x, y, z , ! x, ! y, ! z ) := !( ! x
2
+ ! y
2
+ ! z
2
) +2"#
d
dt
C = 0
Jacobi constant
C is known as the Jacobi Constant. Furthermore, there is not any
other conserved quantity.

Therefore this single and unique first integral reduces the
dimension of the phase space only by one the CR3BP can not
be integrated by quadrature, neither in its planar version.
The restricted problem requires 6 first integrals (it studies the
motion of a single body).
The synodic reference frame definition already exploits the 6
integrals related to the center of mass motion.
The 3 first integrals of the angular momentum are useless as they
rules the motion of the primaries.
The Jacobi constant reduces the degree of freedom by one, but still
there are 5 (3D) or 3 (2D) missed first integrals.
Equations of Motion: First Integral
Effective Potential

Both around m
1
and
m
2
there is a gravity
well:
A further well is at
infinity, as centrifugal
forces dominate:

r
1
!0
lim
"#
( )
=
r
2
!0
lim
"#
( )
= "$
r !"
lim
#$
( )
= #"
!"(x, y ) ( planar case , z = 0)
Effective Potential
The gravity well due to m
2

is directly related to .
Decreasing m
2
, this well
tends to zero.
For a Keplerian model the
size of the m
1
well (the only
one) is related to the
energy:
EarthMoon system
2a

! = "
Energy Surfaces are 5D manifolds in the 6D phase space (or 3D
in the 4D one for the 2D case) where the energy remains
constant, e:


Setting the kinetic energy equal to zero we define the boundaries
of the admissible position space for the motion :




The Hill Regions are regions of the phase space where the kinetic
energy is positive; i.e. they are defined by:




Hill Regions
M (,e) ={(x, y, z , ! x, ! y, ! z ) | E (x, y, z , ! x, ! y, ! z ) = e}
!" #e
M (,e) ={(x, y, z ) | E (x, y, z ) = e}
M (,e) ={(x, y, z ) | !"(x, y, z ) = e}
The admissible and forbidden regions for the motion can be seen
by sections of the Effective Potential plot for different energy values.

The Hill Regions are bounded by T=0.
This condition identifies the Zero Velocity Curves ( ).
Hill Regions
!"(x, y ) ( planar case , z = 0)
0 | | 0 T v = ! =
e
Indeed, the body can move only where its kinetic energy is non
negative (T!0):

Zero Velocity Curves
Zero velocity curves depend
on e.
e is defined by the initial
conditions.
These curves can be closed
around m
1
and m
2
or opened
among the realms.
These curves can not be
crossed during the motion.
E =T !"=
1
2
( ! x
2
+ ! y
2
+ ! z
2
) !"(x, y, z ) = e
T # 0
$
%
&
'
&
(e +"# 0 (!") e
For a given , there exist five possible configurations of the Hill
Regions depending on the value of E (i.e. on the initial conditions):


For even higher energies (E>E
4
=E
5
) the whole space is allowed.
E
i
(i=1,..,5) is the energy value of a particle at rest at the equilibrium
point L
i
.
Once the energy of the body is know, the regions allowed for the
motions are known.
Hill Regions
Allowed Reagion
Forbidden Reagion
m
1
Realm
m
2
Realm
Exterior Realm
Lagrangian Points
Points with horizontal
tangent.
Points where the right hand
side of Eqs. of motion
vanish.
Points whit zero acceleration
in the rotating frame.
Points where a mass
remains forever when
placed with zero velocity.
Equilibrium points.
Lagrangian or Libration Points are:
Points: L
i
(i=1,,5)
Energies: E
i
(i=1,,5)
Three libration points (L
1
,L
2
,L
3
) are collinear with the two
primaries Collinear Points.
Two libration points (L
4
, L
5
) define an equilateral triangle with
primaries Triangular Points.
Lagrangian Points
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
2.8
3
3.2
3.4
3.6
3.8
4
4.2
4.4
C
Li
()

C
L
i
L1
L2
L3
L4
L5
The critical values of the energy in the equilibrium points are:


Since the energy is measured in a rotating frame, we cannot
determine the stability proprieties of the equilibrium points by
their energy.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
2.2
2.1
2
1.9
1.8
1.7
1.6
1.5
1.4
E
Li
()

E
L
i
L1
L2
L3
L4
L5
Lagrangian Points
C
1
>C
2
>C
3
>C
4
=C
5
= 3
E
1
< E
2
< E
3
< E
4
= E
5
= !1.5
Non-dimensional synodic coordinates of the Lagrangian points:

Triangular points:

Collinear points?
The Effective Potential for a collinear point (y
e
=z
e
=0) is:



The zeros of the derivatives of this function are the collinear
points.
Lagrangian Points
!(x
e
,0,0) =
1
2
x
e
2
+
1"
| x
e
+ |
+

| x
e
"1+ |
L
4
=
1
2
!,
3
2
,0
"
#
$
$
%
&
'
'
L
5
=
1
2
!,!
3
2
,0
"
#
$
$
%
&
'
'

Analyzing the Effective Potential for a collinear point:


Collinear Points Coordinates
!(x
e
,0,0) =
1
2
x
e
2
+
1"
| x
e
+ |
+

| x
e
"1+ |
x !"
x !#
x !1#
$
%
&
'
&
((x
e
,0,0) !+"
A stationary
point has to be
located in:
( , )
( ,1 )
(1 , )

!" !
#
$
! !
%
$
! "
&
Figure: The solid line is the
intersection of with the plane
y=0. At the x location of m
1
and
m
2
the function plunges to -#.
Maxima correspond to unstable
collinear points.
!"
Setting to zero the first derivative of results in a 5 order
algebraic equation:





In which $
%
is the distance of L
i
from the nearest primary:

Collinear Points Coordinates
!(x
e
,0,0)
d
dx
!(x
e
,0,0) = 0
!
1
5
!(3!)!
1
4
+(3!2)!
1
3
!!
1
2
+2!
1
! = 0
!
2
5
+(3!)!
2
4
+(3!2)!
2
3
!!
2
2
!2!
2
! = 0
!
3
5
+(2+)!
3
4
+(1+2)!
3
3
!(1!)!
3
!(1!) = 0
L
1
L
2
L
3
!
i
=
L
1
m
2
if L
1
(i =1)
L
2
m
2
if L
2
(i = 2)
L
3
m
1
if L
3
(i = 3)
!
"
#
#
$
#
#
The 5 order algebraic equations have to be solved numerically
(e.g. Newton method).
Also series expansions are available.

Both the numerical approach and the series approximation start
from:
o

Series expansions read:
Collinear Points Coordinates
r
h
=

3
!
"
#
$
%
&
1
3
! =
7
12
( )

Hill Radius (i.e. Radius of the sphere

surrounding m
2
in position space
where the m
2
gravity field dominates
over that of m
1
)
L
1
L
3
L
2
!
1
= r
h
(1!
1
3
r
h
!
1
9
r
h
2
+...) !
2
= r
h
(1+
1
3
r
h
!
1
9
r
h
2
+...)
!
3
=1!"(1+
23
84
"
2
+
23
84
"
3
+...)
Location of the collinear
libration points versus




Collinear Equilibria
System X coord L
1
[DU]

X coord L
2
[DU]

Sun
(Earth+Moon)
Numeric: 0.9899
Analytic: 0.9899
Numeric: 1.0100
Analytic: 1.0100
EarthMoon Numeric: 0.8367
Analytic: 0.8373
Numeric: 1.1557
Analytic: 1.1553
!"
!$
!%
&
'$
&
'%

EarthMoon and
Sun(Earth+Moon) values:
To investigate about the stability of a libration point and the motion
near it we linearize the CR3BP equations of motion around that
point. Three linearization methods are available:

Linearization of the Eqs. of motion using Taylor series around an
equilibrium point Classical Approach
Expansion to the second order of the Hamiltonian around an
equilibrium point Hamiltonian Approach

Expansion to the second order of the Lagrangian around an
equilibrium pointt Lagrange Approach

Linearization of the motion
The Taylor series of a generic function around an
equilibrium point is:

Linearizing (to the first order) it becomes:


After the linearization of the CR3BP equations around a libration
point (L
i
), the stability can be investigated by introducing a
perturbation :


Linearization: Classic Approach
!
g (
!
x ) =
!
g (
!
x
0
) +
!
g
(n )
(
!
x
0
)
n!
n=0
!
"
!
x #
!
x
0
( )
n
!
g (
!
x ) =
!
g (
!
x
0
) +
!
!
g (
!
x )
!
!
x !
x =
!
x
0
!
x "
!
x
0
( )
!
x
0
!
g (
!
x )
x = x
0
+ x
y = y
0
+ y where
z = z
0
+ z
x , y , z
( )
t
L
i
= (x
0
, y
0
,0)
t
m
3
L
! " !!!
i
= (x , y , z )
t
Thus, the Eqs. of motion (planar case) in a reference system
centered in a collinear libration point L
i
become:
In the same fashion the motion along z would read:



In general not really practical approach
Linearization: Classic Approach
!! x !2 ! y ={1!(1!)(
1
r
0
1
3
!3
(x
0
+)
2
r
0
1
5
) !(
1
r
0
2
3
!3
(x
0
!1+)
2
r
0
2
5
)}x +{3(1!)
(x
0
+) y
0
r
0
1
5
!3
(x
0
!1+) y
0
r
0
1
5
}y
!! y +2 ! x ={3(1!)
(x
0
+) y
0
r
0
1
5
!3
(x
0
!1+) y
0
r
0
1
5
}x +{1!(1!)(
1
r
0
1
3
!3
y
0
2
r
0
1
5
) !(
1
r
0
2
3
!3
y
0
2
r
0
2
5
)}y
"
#
$
$
$
%
$
$
$
where r
0
1
= (x
0
+)
2
+ y
0
2
e r
0
2
= (x
0
!1+)
2
+ y
0
2
!! z =
1!
r
0
1
3
+

r
0
2
3
"
#
$
$
%
&
'
'
z
!L
i
con i =1,..,5
Decoupled harmonic oscillator
It is a more practical method for the motion around a collinear
libration points.
Let us focus on one of the three collinear libration points (x
e
) in the
planar case:
To linearize the canonical Eqs. quadratic terms of H are required
(derived once w.r.t. the state variables):


H is Taylor expanded around a collinear point (x
e
,0,0,x
e
)
Origin is moved into (x
e
,0,0, x
e
).
Second order H:
Linearization: Hamilton Approach
2 2 2 2
( , , , ) ( , , , )
/
x y x y
i i
H
H x y p p x y p p
p q
!
" # "
! !
! !
H
l
=
1
2
[( p
x
+ y )
2
+( p
y
! x )
2
!ax
2
+by
2
]
with a = 2c +1 e b = c !1 c = | x
e
!1+ |
!3
+(1!) | x
e
+ |
!3
From H
l
, the linear Eqs. of motion (planar case) in the rotating
frame centered in the collinear point read:

Since H is just another expression of E, also the energy assumes a
second order form:

Surfaces characterized by E
l
=0 are energy surfaces passing
through L
i
.
For 3D case the linear Eq. of motion along the z-axis is:
Linearization: Hamilton Approach
2 2 2 2
1
( )
2
l x y
E v v ax by = + ! +
! x =
!H
l
!p
x
= p
x
+ y ! p
x
= "
!H
l
!x
= p
y
" x +ax
! y =
!H
l
!p
y
= p
y
" x ! p
y
= "
!H
l
!y
= " p
x
" y "by
!! z = !cz
In the Lagrangian approach the state of a generic collinear point
reads (planar case): (x
e
,0,0,0).
The inverse Legendre transformation performs the Hamiltonian
toLagrangian passage.
Thus, the linear Eqs. of motion (planar case) in the Lagrange
formulation read (w.r.t. a rotating frame centered in the collinear
point):
For 3D case the linear Eq. of motion along the z-axis is:
Linearization: Lagrange Approach
! x =v
x
! v
x
= 2v
y
+ax
! y =v
y
! v
y
= !2v
x
!by
!! z = !cz
Let us consider the Eqs. of motion in the Lagrange form:
The 6 eigenvalues of A are:


For instability is sufficient that al least one of them has positive
real part (First Lyapunov Theorem).
L
1
, L
2
, L
3
are unstable equilibria.
Collinear Equilibria Stability Investigation
!! x !2 ! y !(2c +1)x = 0
!! y +2 ! x +(c !1) y = 0
!! z +cz = 0
"
#
$
%
$
where c =
(1!)
| x
e
+ |
3
+

| x
e
!1+ |
3
1
2
2
2
(2 1)( 1)
c
where
c c
!
!
"
= #
$
%
$
= + #
&
!
1,2
= !"
1
+ "
1
2
+"
2
2
" #
!
3,4
= i "
1
+ "
1
2
+"
2
2
"C
! x
! y
! z
! v
x
! v
y
! v
z
!
"
#
#
#
#
#
#
#
#
$
%
&
&
&
&
&
&
&
&
=
0
0
0
a
0
0
0
0
0
0
'b
0
0
0
0
0
0
'c
1
0
0
0
'2
0
0
1
0
2
0
0
0
0
1
0
0
0
(
)
*
*
*
*
*
*
*
*
+
,
-
-
-
-
-
-
-
-
A
" # $$$$$ % $$$$$
.
x
y
z
v
x
v
y
v
z
!
"
#
#
#
#
#
#
#
#
$
%
&
&
&
&
&
&
&
&
!
5,6
= i c !C
Investigating about the sign of the second derivative of the
same stability considerations can be drawn:




L
1
, L
2
, L
3
are unstable equilibria.
Collinear Equilibria Stability Investigation
!"(x
e
,0,0)
d
2
(!")
dx
2
x=x
e
= !1!
1!
| x
e
+ |
3
!

| x
e
!1+ |
3
!"(x
e
,0,0) = !
1
2
x
e
2
!
1!
| x
e
+ |
!

| x
e
!1+ |
The sign is always negative
(concave)

!"(x
e
,0,0)
Specializing the linear Eqs. of motion to :


Four of the eigenvalues (the other two ) of the system read:


The points are stable if all eigenvalues have zero real part, thus:


L
4
, L
5
are stable equilibria for <0.03852 (but not asymptotically).
Equilateral Equilibria Stability Investigation
(x
e
=1/ 2, y
e
= 3 / 2, z
e
= 0)
!! x !2 ! y !
3
4
x !
3 3
2
(
1
2
!) y = 0
!! y +2 ! x !
3 3
2
(
1
2
!)x !
9
4
y = 0
1!27(1!) " 0
# 0.5
$
%
&
!! z +cz = 0
c = | !
1
2
+ |
!3
+(1!) |
1
2
+ |
!3
!C
!
3,4
=
!1+ 1!27(1!)
2
If !0 e < 1 eigenvalues are
complex conjugate
!
1,2
=
!1! 1!27(1!)
2
!C
The gravity field of m
1
and m
2
shows 5 points where forces acting
on m
3
vanish.
Due to their fast instability L
1
and L
2
are the most interesting for
space mission design.
Libration Points: Stability Summary
approaching leaving
Configuration in the Position Space
The most interesting case
is when E
2
<E<E
3
; all the
three realms communicate
with the smaller energy.
For m
1
to m
2
transfers
E
1
<E<E
2
is sufficient.

Passages are allowed only
through the gates of L
1
, L
2

and L
3
.
The aim is to investigate about the shape of the solution
considering the linearized Eqs. near collinear equilibria. Let us
focus on the planar case.
Let us recall the linear Eqs. in the Lagrangian version:



The 4 eigenvalues (roots of p) are ( ):
Geometry of Solution Near Equilibria
! x
! y
! v
x
! v
y
!
"
#
#
#
#
#
$
%
&
&
&
&
&
=
0 0 1 0
0 0 0 1
a 0 0 2
0 'b '2 0
(
)
*
*
*
*
+
,
-
-
-
-
.
" # $$$ % $$$
/
x
y
v
x
v
y
!
"
#
#
#
#
#
$
%
&
&
&
&
&
0 p(!) = !
4
+(2 'c)!
2
+(1'c '2c
2
)
'ab
" # $ % $
! = !
2
! p(!) = 0
!
1
=
c !2 + 9c
2
!8c
2
> 0 "
"
1
= !
1
"
2
= ! !
1
#
$
%
&
%
!
2
=
c !2 ! 9c
2
!8c
2
< 0 "
"
3
= i !
2
"
4
= !i !
2
#
$
%
&
%
Characteristic polynomial
Let us define:
The eigenvalues take the form:



From eigenvectors assume the general form:

Thus:

Geometry of Solution Near Equilibria
! = "
1
and !
xy
= !
2
! and i !
xy
with ! > 0 and !
xy
> 0
!
"
#
$
#
Au = !u
u = (k
1
, k
2
, k
3
, k
4
)
k
3
= !k
1
"k
1
+2k
4
= !k
3
k
4
= !k
2
!bk
2
!2k
3
= !k
4
"
k
1
!0 otherwise k
i
=0.
Thus, we choose k
1
=1.
The relative eigenvectors are:

We can write the complex eigenvectors trough two real vectors
as: .
Geometry of Solution Near Equilibria
with ! =
2! "
"
2
+b
> 0 and # = "
$
xy
2
+a
2!$
xy
< 0
!
!
u
1
= (1,!!, ",!"!)
!
u
2
= (1,!,!",!"!)
!
w
1
= (1,!i # ,i $
xy
,$
xy
# )
!
w
2
= (1,i # ,!i $
xy
,$
xy
# )
i !
xy
!
w
1
=
!
!
1
!i
!
!
2
,
!
w
2
=
!
!
1
+i
!
!
2
!
!
1
,
!
!
2
Let us now consider the eigenvectors as axes of the reference
frame:
The new coordinates are: .
In a reference frame where eigenvectors are the basis, the
constant coefficient matrix is diagonal with the eigenvalues in the
relative position along the diagonal:



For the imaginary eigenvectors the differential equations of the
relative coordinates are imaginary: .


Geometry of Solution Near Equilibria
(!,",w
1
,w
2
)
!
!
!
"
! w
1
! w
2
!
"
#
#
#
#
#
$
%
&
&
&
&
&
=
# 0 0 0
0 '# 0 0
0 0 i $
xy
0
0 0 0 'i $
xy
(
)
*
*
*
*
*
+
,
-
-
-
-
-
.
!
"
w
1
w
2
!
"
#
#
#
#
#
$
%
&
&
&
&
&
! w
1
= i !
xy
w
1
, ! w
2
= !i !
xy
w
2
To obtain all real equations we search for a real block diagonal
coefficient matrix (Jordan form).
Thus, we apply a coordinate change defining as reference axis
instead of :



The phase space remains with coordinates: .
! Re :
!
!
1
="
xy
!
2
! Im:
!
!
2
= ""
xy
!
1
! w
1
= i !
xy
w
1
! w
2
= !i !
xy
w
2
"
#
$
%
$
&
!
!
1
!i
!
!
2
= ! w
1
= i !
xy
w
1
= i !
xy
("
1
!i "
2
) =!
xy
"
2
+i !
xy
"
1
!
!
1
+i
!
!
2
= ! w
2
= !i !
xy
w
2
= !i !
xy
("
1
+i "
2
) =!
xy
"
2
!i !
xy
"
1
Geometry of Solution Near Equilibria
!
4
!
w
1
,
!
w
2
(!,",#
1
,#
2
)
!
!
1
,
!
!
2
The Eqs. of motion in the planar case take the very easy form:

The solutions of Eqs. read:


are the initial conditions.
& and ' divergent components.
( periodic components.
Geometry of Solution Near Equilibria
!(t ) =!
0
e
"t
#(t ) =#
0
e
!"t
$(t ) = $
1
(t ) +i $
2
(t ) = $
0
e
!i %
xy
t
"
#
$
$
%
$
$
!
! = "!
!
#
1
=$
xy
#
2
!
% = !"%
!
#
2
= !$
xy
#
1
"
#
$
%
$
!
0
,"
0
e !
0
The coordinate
transformation decouples
the coordinates. Only the
complex conjugate pair
shows cross dependence.
In such a system also the energy takes the very easy form:


Since this system is a low order (linear) approximation of the true
motion additional first integrals are available besides the energy.


Besides the energy, other two constant functions (the elements of
the linear energy equation) along solutions are:

Geometry of Solution Near Equilibria
E
l
= !"#+
$
xy
2
(!
1
2
+!
2
2
)
2 2 2
1 2
| |
cost
cost
!"
# # #
=
$
%
= + =
&
The Equilibrium Region, R, is the region in the phase space
sufficiently close to the equilibria where the linear approximation
holds.
This region defines boundaries on the coordinates/eigenvalues:
Considering that and assuming :


R is the product between a 4Dsphere and an interval.
Flow in the Equilibrium Region
E
l
=! = cost and | "!# |" c !,c > 0
l
E ! =
!
4
("
2
+#
2
) +
$
xy
2
(%
1
2
+%
2
2
) =& +
!
4
("!#)
2
!"#
"
#
$
%
| "!# |& c
'
(
)
*
)
2 2
( ) ( )
4 4
! !
!"# " # " # = + $ $
4D-sphere
equation
Constant for a value
of on the
interval I=[-c,c]

!!"
( )
Is a constant for a
value of on
the interval I= [-c, c]
!!"
( )
Let us project the flow onto the (&, ') plane considering
Solution is:
Each point in the (&, ') plane is a circumference of radius ) in the
((
1
,(
2
) plane.
Flow in the Equilibrium Region
| ! |
2
= const
PERIODIC ORBITS
ASYMPTOTIC ORBITS
TRANSIT ORBITS
NONTRANSIT ORBITS
0 constant !" = >
0 constant !" = <
0 !" =
0 0 e ! " = =
Since the Equilibrium
Region is bounded by two
hyperbolas: ;
Since the Equilibrium
Region is bounded by two
vertical lines:
| ! |
2
!0
| !!! |! c
!" =# / $
!!! = c
!(t ) =!
0
e
!t
"(t ) =!
0
e
!!t
| ! |
2
= const
| ! |
2
=0
| ! |
2
=0
Let us project the solution flow onto the ((
1
,(
2
) plane:
The projections of the solutions are circumferences
of different radius onto the ((
1
,(
2
) plane Centre.
In the 3D case, the projection onto the plane of the eigenvectors
relative to the motion along the z-axis are analogues, so the 3D
solution of the linearized motion in the equilibrium region is:



Flow in the Equilibrium Region
In the position space the Equilibrium Region is the region
connecting two realms.
In the planar case, the general solution of the linear system near a
collinear point in rotating coordinates reads (verifiable by
substitution):
where *
1
and *
2
are real and +=+
1
+i+
2
complex.
The x component of solution is:
Projection in the Position Space
[x (t ), y (t ), ! x (t ), ! y (t )] =!
1
e
"t
u
1
+!
2
e
!!t
u
2
+2Re(!e
i "
xy
t
w
1
)
x (t ) =!
1
e
"t
+!
2
e
!!t
+2(!
1
cos("
xy
t ) !!
2
sin("
xy
t ))
1
1
1
0 ( )
0 ( )
0 ( )
for t if x t
if x t bounded
if x t
!
!
!
"+#$ < $ "%#
= $
> $ "+#
2
2
2
0 ( )
0 ( )
0 ( )
for t if x t
if x t bounded
if x t
!
!
!
"#$% < % "#$
= %
> % "+$
Combinations of *
1
and *
2
return the same types of orbits
highlighted in the eigenvectorreferred axes:


1
=
2
=0 periodic orbits

1

2
=0 asymptotic orbits
to the periodic one

1

2
<0 transit orbits

1

2
>0 nontransit orbits

The asymptotic orbits computed for each point of the periodic
orbit project in to 2 strips S
1
and S
2
in the x-y plane.
Projection in the Position Space
In the Equilibrium Region there exist periodic solutions around
massless points.
Recalling the linearized system of 3D motion near a collinear point
w.r.t the rotating frame centered in the point:
and its 6 eigenvalues:

The general solution of the linear system reads:


In which: can be calculated from the initial
conditions and are the angular phases.
Periodic Orbits
!! x !2 ! y !(2c +1)x = 0
!! y +2 ! x +(c !1) y = 0
!! z +cz = 0
"
#
$
%
$
x (t ) =!
1
e
!t
+!
2
e
!!t
+ A
x
cos(!
xy
t +!)
y (t ) = !k
1
!
1
e
!t
+k
2
!
2
e
!!t
!k
2
A
x
sin(!
xy
t +!)
z (t ) = A
z
cos(!
z
t +!)
!
1
,!
2
, A
x
and A
z
! and "
k
1
=
2c +1!!
2
z
2!
z
k
2
=
2c +1+!
2
xy
2!
xy
! i !
xy
and i !
z
To analyze only the periodic motion, let us assume:
Thus, the linearized system becomes:


The different types of periodic orbits near a collinear point are:


Always families of periodic orbits in Hamiltonian systems. Specific
orbit parameterized by means of an energyrelated parameter.
Periodic Orbits
x (t ) = A
x
cos(!
xy
t +")
y (t ) = !k
2
A
x
sin(!
xy
t +")
z (t ) = A
z
cos(!
z
t +#)
!
1
=!
2
= 0
!
xy
!!
z
In the linear motion
it is always:
A
x
! 0"A
z
= 0
A
z
! 0"A
x
= 0
A
z
! 0"A
x
! 0"!
xy
=!
z
A
z
! 0"A
x
! 0"!
xy
!!
z
Planar Lyapunov orbits
Vertical Lyapunov orbits
Lissajous orbits (quasi-periodic)
Halo orbits Adding non-linear terms
Parameterized by means of the outofplane amplitude (A
z
).
Halo orbits generate when the amplitude A
z
is sufficiently large for
allowing non-linear terms to generate equal eigenfrequencies

Periodic orbits: Halo Orbits
!
xy
=!
z
Not exactly periodic orbits.
Periodic Orbits: Lissajous Orbits
The actual orbits used in real
space missions.
Stationkeeping
maneuvers are
mandatory.
Two amplitudes as free
parameters; more than one
orbit with the same energy.
Periodic Orbits: Kinds
Periodic and quasi-
periodic orbits near
Collinear Points
In the (x, y) plane
In the (x, z) plane
In the(x, y, z ) space
Planar and Vertical
Lyapunov Orbits
Halo
Orbits
!
xy
=!
z
!
xy
!!
z
Quasi-Halo
Orbits
Lissajous
Orbits
The Poincar Section approach allows for the fast identification of
all objects.
Periodic Orbits: Kinds
With the aim at computing the non-linear periodic orbits near a
collinear point, either analytic and numerical approximation
methods are necessary.








Periodic Orbits: Computation
Periodic orbit
computation procedure
Analytic approximation
(e.g. Richardsons method)
Numerical method
to correct the analytic approximation
(e.g. Differential correction)
Richardsons Method (Halo orbits):
It is chosen a rotating reference frame centered in the collinear
point;
The Lagrangian of the CR3BP is rewritten by exploiting the
recursive relations of the Legendre polynomials;
Appling the Euler-Lagrange equations to the rewritten Lagrangian
the equations of motion can be computed;
Non-linear periodic analytic solutions approximated to the third
order are computed by using frequency corrections to keep the
solution bounded;
The analytic solution so computed is a function of the amplitudes
A
x
and A
z
of the linearized solutions of motion.

Periodic Orbits: Analytic Approximation
Setting A
z
=0 the Richardson method can be apply to compute
Planar Lyapunov orbits and setting A
x
=0 to compute Vertical
Lyapunov orbits.
Periodic Lyapunov Orbits: Analytic Approximation
Planar Lyapunov orbits Vertical Lyapunov orbits
The Richardson approximation is too poor to produce actual
periodic orbits when used as initial conditions for numerically
integrating the nonlinear Eqs. of motion.
Periodic Orbits: Analytic Approximation
Planar Lyapunov orbit Vertical Lyapunov orbit
Differential Correction:

The numerical differential correction procedure modifies the
analytic approximation in the actual force model to obtain
periodicity.
Starting from the Richardson approximation, periodic orbits are
constructed by using the state transition matrix.
The numerical scheme employs a correction of the initial
conditions by means of a first order expansion of the final state
until periodicity conditions are obtained.
Due to the symmetries of the problem, an orbit two times
perpendicularly intersecting the (x,z) synodic plane is periodic (Roy
and Ovenden Theorem).
Periodic Orbits: Numerical Approximation
Differential Correction (continue):

Starting from on the analytic approximation, we
integrate numerically the non-linear equation until t=T
1/2
;
The terminal state is in the form: ;
For periodicity it has to be: ;
Thus, we compute the correction !X and !t for X
0
and T
1/2
to
have by:


The procedure is repeated iteratively until the stop condition
is verified.
Periodic Orbits: Numerical Approximation
!( X
0
+"X ,T
1/2
+"t ) = !( X
0
,T
1/2
) +
#!( X
0
,T
1/2
)
#X
"X +
#!( X
0
,T
1/2
)
#t
"t
!( X
0
,T
1/2
) = x
*
,0, z
*
,0,v
*
,0
{ }
!( X
0
,T
1/2
) ={ ! x,0, ! z , ! u, ! v , ! w}
!( X
0
+"X ,T
1/2
+"t ) = x
*
,0, z
*
,0,v
*
,0
{ }
X
0
={x
0
,0, z
0
,0,v
0
,0}
! u <! ! ! w <!
State transition matrix
Differential Correction (continue):



Periodic Orbits: Numerical Approximation
= Analytic approximation
= Differential Correction
A
z
=80.000 km
Planar Lyapunov orbit
Vertical Lyapunov orbit
Associated to each collinear equilibria and periodic orbit near them
exist a set of lines and tubes respectively, which naturally tending
asymptotically toward (stable) or moving from (unstable) them:
Stable Manifold toward the collinear
point/periodic solution for ;
Unstable Manifold toward the collinear
point/periodic solution for .

Manifolds
t !+"
t !"#
Manifolds associated to the collinear libration points:
The unstable dynamics (saddle part) of the collinear points give rise
to a stable (real negative eigenvalue of the linear system ) and an
unstable (real positive eigenvalue ) manifold.
The stable eigenvalue shows an exponentially fast convergence
toward the libration point.
The unstable eigenvalue shows an exponentially fast divergence
from the libration point.
Qualitative results obtainable by a linear approximation of the full
motion can be extended to the nonlinear case [Moser].
Manifold can be computed by propagating backward/forward in
time a small perturbation along the stable/unstable eigenvectors
(u
1
/u
2
) of the linear system (manifold globalization).
Onedimensional Manifolds
!
x
0
s /u
=
!
x
0
d
!
u
1/2
!
!!
Manifolds associated to the first and second collinear libration point
of the Sun-Jupiter CR3BP system:



Onedimensional Manifolds
Manifolds
associated to L
1

Manifolds
associated to L
2

Otermas orbit
Periodic orbit manifolds are distorted tubelike structures whose
cross section is the distorted periodic orbit they emanate from.
These manifolds move in the regions allowed for the motion
permitting the communication among realms.
The manifolds separate transit orbits and non-transit orbits. The
transit orbits are those inside the tube and the non-transit orbits are
those outside the tube.
Every trajectories on the tube is asymptotic to the periodic orbit.

Twodimensional Manifolds
X [DU]
Unstable
Stable
The linear approximation of manifolds associated with a point x
0

on a periodic orbit is given by the stable/unstable eigenvectors
of the monodromy matrix.



Twodimensional Manifolds
(v
s
/ v
u
)
Applying the Moser
theorem, manifold tubes
can be computed by
propagating backward/
forward in time a small
perturbation (d) along the
stable/unstable
eigenvectors of the
monodromy matrix
(manifold globalization).
Twodimensional Manifolds
The stable/unstable eigenvector is
the one associated with the real
eigenvalue of modulus smaller/
larger than 1.

x
0
s
= x
0
dv
s
!stable
x
0
u
= x
0
dv
u
!unstable
Orbits asymptotic to the same unstable periodic orbit (libration
point) both for and for .




Orbits living on the stable and unstable manifold of the same
periodic orbit.
Manifolds structures: Homoclinic Orbits
t !+"
t !"#
Mc Gehee (1969) demonstrated that the surface of allowed motion
are broken up further into regions bounded by invariant tori.
These invariant tori project in two annuli (A
1
and A
2
) in the
position space that can not be crossed during the motion.


Every orbit leaving the vicinity of one unstable periodic orbits of
L
1
/L
2
evolves inside the annuli T
1
/T
2
in the counterclockwise/
clockwise direction before returning to that vicinity.
Manifolds structures: Homoclinic Orbits
Orbits asymptotic to two different unstable equilibrium points, or
two periodic orbits with same energy associated to different
collinear points, both for and for .




Orbits living on the stable manifold of one orbit and on the
unstable manifold of the other.
Manifolds structures: Heteroclinic Orbits
t !+" t !"#
The combination of two homoclinic orbits, in the interior and
exterior realm, with an heteroclinc orbit of the same energy and
associated to the same periodic orbits generates a so called
homoclinic-heteroclinic chain of orbits.
It connects the interior, exterior and m
2
realm.



Homoclinic-Heteroclinic Chain
The idea is to exploit a lowdimensional map preserving all the
information of the original system.
The complete state of the system can be reconstructed by using
flowtransversal planes to store the coordinate not fixed by the
plane location. Using the energy integral we obtain the 4
th

coordinate to complete the state.

Poincar Sections
.
.
Orbits
.
.
.
Poincar Map
1
st
cut
2
nd
cut
Poincar Sections
Poincar Sections of stable/unstable periodic orbit manifolds are
areas.
Images of manifolds inherit their characteristics.
Points within these areas have the same manifold dynamics.
Manifold approach to trajectory design.
Poincar Sections: Prescribed Itineraries
Prescribed Itinerary: [X,J,S,J,X]
red=unstable manifold; green=stable manifold
Poincar Sections: Prescribed Itineraries
Poincar Sections: Prescribed Itineraries
Twisting:
The closer is an orbit to the manifold and the more deformed will
be its image when it leaves the equilibrium region.
With infinitesimal changes in the initial conditions (e.g. a small
velocity change in a fixed point), we can dramatically modify the
destination of the orbit.
Interplanetary Superhighways
The Interplanetary Superhighways are the network of trajectories
generated by the collection of invariant manifolds of all of the
unstable periodic orbits within the Solar System.
The Solar System is modeled as a series of coupled CR3BPs.
V. Szebehely, Theory of Orbits, The Restricted Problem of Three Bodies, Academic
Press inc., New York, 1967
E.A. Belbruno and J.K. Miller, SunPerturbed EarthtoMoon Transfers with Ballistic
Capture , Journal of Guidance, Control and Dynamics, Vol. 16, No. 4, pp. 770775,
1993
M. Kim, Periodic orbits for future spacebased deep space observations ,
Diplomarbeit, sterreich, 2001
Shane David Ross, Cylindrical Manifolds and Tube Dynamics in the Restricted Three
Body Problem, Thesis, California Institute of Technology Pasadena, California, 2004
Conley, C., Low Energy Transit Orbits in the Restricted ThreeBody Problem, SIAM
Journal Appl. Math., No. 16, pp. 732746, 1968
D.L. Richardson, Analytic Construction of Periodic Orbits about the Collinear Points,
Celestial Mechanics, Vol. 22, No. 3, pp. 241253, 1980
BernelliZazzera F., Topputo F. and Massari M., Assessment of Mission Design
Including Utilization of Libration Points and Weak Stability Boundaries, Final Report,
ESTEC Contract No. 18147/04/NL/MV, June 2004
References