Flight Testing of Multiple-Spacecraft Control on SPHERES During Close-Proximity Operations
Flight Testing of Multiple-Spacecraft Control on SPHERES During Close-Proximity Operations
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DOI：
10.2514/1.43563
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发表时间：
2009-11
影响因子：
1.6
通讯作者：
S. McCamish;M. Romano;S. Nolet;Christine M. Edwards;David W. Miller
中科院分区：
文献类型：
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作者：
S. McCamish;M. Romano;S. Nolet;Christine M. Edwards;David W. Miller
A, B, C = 状态空间矩阵 a = 由于线性二次调节器和人工势场确定的控制作用引起的加速度 aAPF = 由于人工势场确定的控制作用引起的加速度 aLQR = 由于线性二次调节器确定的控制作用引起的加速度 am = 最大加速度 aobs = 追逐者航天器朝向障碍物的加速度 ax;y;z = 由于控制作用引起的加速度 Do = 障碍物影响区域 da = 目标加速度衰减常数 dg = 目标指数衰减常数 do = 停止距离常数 JLQR = 线性二次调节器成本函数 KLQR = 线性二次调节器状态反馈增益 ka = 加速度整形参数 kd = 对接安全参数 kg = 速度整形函数 ko = 障碍物函数 ks = 安全函数 kv = 速度整形参数 Lo = 障碍物外表面 N = 线性二次调节器增益矩阵 Q = 线性二次调节器状态增益矩阵 R = 线性二次调节器控制效果增益矩阵 r = 欧几里德范数距离或相对范围 r = 相对距离矢量 rc = 追赶航天器的位置矢量 rg = 追赶航天器距目标的位置矢量 rinit = 追赶航天器距目标的初始距离 rm = 追赶航天器距目标的最大允许距离 ro = 追赶航天器距障碍物的位置矢量 rt = 目标航天器相对于地球的位置矢量 S = Riccati 方程的解 u = 控制努力矢量 V = 势函数 Vg = 目标势函数 Vo = 障碍物势函数 vm = 最大相对速度 vo =追逐者航天器朝向障碍物的期望速度 vobs = 追逐者航天器朝向障碍物的速度 x = 状态向量 x, y, z = 沿笛卡尔轴的位置或状态 Q = 线性二次调节器状态性能增益 R = 线性二次调节器控制效果增益 t = 时间增量 = 障碍物影响区域的标准偏差！ = 轨道角速度
A, B, C = state-space matrices a = acceleration due to linear-quadratic-regulatorand artificial-potential-field-determined control effort aAPF = acceleration due to artificial-potential-fielddetermined control effort aLQR = acceleration due to linear-quadratic-regulatordetermined control effort am = maximum acceleration aobs = acceleration of chaser spacecraft toward an obstacle ax;y;z = acceleration due to the control effort Do = obstacle region of influence da = goal acceleration decay constant dg = goal exponential decay constant do = stopping distance constant JLQR = linear quadratic regulator cost function KLQR = linear quadratic regulator state feedback gain ka = acceleration shaping parameter kd = docking safety parameter kg = velocity shaping function ko = obstacle function ks = safety function kv = velocity shaping parameter Lo = obstacle exterior surface N = linear quadratic regulator gain matrix Q = linear quadratic regulator state gain matrix R = linear quadratic regulator control effort gain matrix r = Euclidean norm distance or relative range r = relative distance vector rc = position vector of the chaser spacecraft rg = position vector of the chaser spacecraft from the goal rinit = initial distance of the chaser spacecraft from the goal rm = maximum allowable distance of the chaser spacecraft from the goal ro = position vector of the chaser spacecraft from the obstacle rt = position vector of the target spacecraft with respect to the Earth S = solution of the Riccati equation u = control effort vector V = potential function Vg = goal potential function Vo = obstacle potential function vm = maximum relative velocity vo = desired velocity of chaser spacecraft toward an obstacle vobs = velocity of chaser spacecraft toward an obstacle x = state vector x, y, z = positions, or states, along the Cartesian axis Q = linear quadratic regulator state performance gain R = linear quadratic regulator control effort gain t = time increment = standard deviation for the obstacle’s region of influence ! = orbital angular velocity