Nonlinear optimal control of spacecraft approaching a tumbling target
Nonlinear optimal control of spacecraft approaching a tumbling target
复制标题
DOI：
10.1109/acc.2009.5160182
复制
发表时间：
2009-06
期刊：
影响因子：
--
通讯作者：
M. Xin;Hejia Pan
中科院分区：
文献类型：
--
作者：
M. Xin;Hejia Pan
本文讨论了航天器接近并对准翻滚目标的控制。为了完成任务，航天器需要以足够的精度进行大的位置和姿态机动。此外，大角度机动引起的灵活运动需要最小化。这项工作的主要贡献是在一个统一的最优控制框架中考虑位置、姿态和灵活运动的控制。六自由度刚体动力学和耦合柔性结构动力学是高度非线性的，导致具有挑战性的控制问题。采用 θ - D 非线性最优控制技术，通过摄动过程以近似解析形式求解相关的 Hamilton-Jacobi-Bellman (HJB) 方程，设计针对该问题的集成控制器。这种方法提供的封闭式控制器很容易在机上实现，特别是对于这个具有大状态空间的问题。数值结果表明，即使在转动惯量不确定性较大的情况下，所提出的控制器也表现出良好的跟踪性能。
This paper addresses the control of spacecraft to approach and align with a tumbling target. In order to complete the task, the spacecraft is required to perform large position and attitude maneuvers with sufficient accuracy. In addition, the flexible motion induced by large angular maneuvers needs to be minimized. The primary contribution of this work is to consider the control of position, attitude, and flexible motion in one unified optimal control framework. The 6-DOF rigid body dynamics and coupled flexible structure dynamics are highly nonlinear and lead to a challenging control problem. The θ - D nonlinear optimal control technique is employed to design an integrated controller for this problem by solving the associated Hamilton-Jacobi-Bellman (HJB) equation in an approximate analytical form via a perturbation process. The closed-form controller offered by this method is easy to implement onboard especially for this problem with a large state-space. Numerical results show that the proposed controller exhibits good tracking performance even under large moment of inertia uncertainties.