Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft
Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft
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DOI：
10.1016/j.actaastro.2010.08.012
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发表时间：
2011-04
影响因子：
3.5
通讯作者：
R. Bevilacqua;T. Lehmann;M. Romano
中科院分区：
文献类型：
--
作者：
R. Bevilacqua;T. Lehmann;M. Romano
这项工作介绍了一种基于混合线性二次调节器/人工势函数（LQR/APF）的近距离多个航天器自主机动的新型控制算法，适用于自主对接、在轨组装和航天器维修等应用。介绍了所提出方法的理论发展和实验验证。通过在每个采样时间重新计算 LQR，实时对燃油消耗进行次优化，同时通过 APF 和高级决策逻辑执行碰撞避免。底层 LQR/APF 控制器集成了定制的沿墙技术和决策逻辑，克服了局部最小值等问题。该算法在海军研究生院航天器机器人实验室的四个航天器模拟器测试台上进行了实验测试。评估控制算法的指标包括：系统决策的自主性、成功完成机动、所需时间和推进剂消耗。
This work introduces a novel control algorithm for close proximity multiple spacecraft autonomous maneuvers, based on hybrid linear quadratic regulator/artificial potential function (LQR/APF), for applications including autonomous docking, on-orbit assembly and spacecraft servicing. Both theoretical developments and experimental validation of the proposed approach are presented. Fuel consumption is sub-optimized in real-time through re-computation of the LQR at each sample time, while performing collision avoidance through the APF and a high level decisional logic. The underlying LQR/APF controller is integrated with a customized wall-following technique and a decisional logic, overcoming problems such as local minima. The algorithm is experimentally tested on a four spacecraft simulators test bed at the Spacecraft Robotics Laboratory of the Naval Postgraduate School. The metrics to evaluate the control algorithm are: autonomy of the system in making decisions, successful completion of the maneuver, required time, and propellant consumption.