Constrained autonomous satellite docking via differential flatness and model predictive control
Constrained autonomous satellite docking via differential flatness and model predictive control
复制标题
通过差分平坦度和模型预测控制进行约束自主卫星对接
DOI：
10.1109/cdc.2016.7798766
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
R. Murray
中科院分区：
文献类型：
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作者：
S. Farahani;I. Papusha;Catharine L. R. McGhan;R. Murray
我们研究轨道生成算法，允许卫星与目标卫星自主交会和对接，以执行维护任务，或将目标卫星运送到新的工作位置。对于交会的各个阶段，我们提出了不同的路径规划策略。在第一阶段，卫星导航到目标卫星的视线(LOS)区域中的一点。我们证明了卫星的运动方程在相对坐标中是微分平坦的，因此可以在平坦的输出空间中有效地找到交会轨迹，而不需要对完整的非线性动力学进行积分。在第二阶段，我们使用带有线性化动力学的模型预测控制(MPC)来导航航天器到受限进场包络内的最终对接位置。通过对一个对接任务样本的模拟，验证了该研究的可行性。
We investigate trajectory generation algorithms that allow a satellite to autonomously rendezvous and dock with a target satellite to perform maintenance tasks, or transport the target satellite to a new operational location. We propose different path planning strategies for each of the phases of rendezvous. In the first phase, the satellite navigates to a point in the Line of Sight (LOS) region of the target satellite. We show that the satellite's equations of motion are differentially flat in the relative coordinates, hence the rendezvous trajectory can be found efficiently in the flat output space without a need to integrate the full nonlinear dynamics. In the second phase, we use model predictive control (MPC) with linearized dynamics to navigate the spacecraft to the final docking location within a constrained approach envelope. We demonstrate feasibility of this study by simulating a sample docking mission.