A tracking model predictive control algorithm for rendezvous of tumbling targets in elliptical orbit

椭圆轨道翻滚目标交会的追踪型模型预测控制

¹ College of Aeronautics and Astronautics, Shenyang Aerospace University, Shenyang 110136, China
² School of Astronautics, Northwestern Polytechnical University, Xi′an 710072, China

Received: 31 October 2024

Abstract

Regarding the robust trajectory planning and control of multi-constrained rendezvous for space tumbling targets in an elliptical orbit, a robust tracking model predictive control algorithm based on the "tube" is proposed. Firstly, the engineering constraints and uncertainties in the rendezvous process are analyzed and modeled, and the uncertainty propagation of the nominal system is quantified to obtain its compressed constraints. Then, a robust tracking model predictive rendezvous controller, consisting of a feedforward term and a feedback term, is designed. The feedforward term drives the system state to the target state with the least energy consumption and the best tracking accuracy. The feedback term ensures that the system still satisfies the engineering constraints under uncertainty. The digital simulation results indicate that the controller thus designed can successfully complete the elliptical orbit rendezvous task with a shorter prediction horizon and guaranteed stability. Compared with the classical robust model predictive control (MPC) algorithm, the proposed algorithm significantly reduces the computational complexity and has the advantages of autonomy, robustness and safety.

摘要

针对椭圆轨道空间翻滚目标多约束交会的鲁棒轨迹规划与控制问题, 提出了一种基于“管道”的追踪型鲁棒模型预测控制方法。对交会过程中的工程约束和不确定性进行分析和建模, 进而量化系统的不确定性传播, 得到标称系统压缩后的约束。设计由前馈项和反馈项两部分构成的追踪型鲁棒模型预测交会控制器, 前馈项驱使系统状态以能量消耗最少、跟踪精度最优的方式到达目标状态, 反馈项确保系统在不确定性下仍然满足工程约束。数字仿真实验表明, 所设计的控制器能够在保证稳定性的同时以较短的预测时域成功完成椭圆轨道交会任务。相较经典MPC算法, 所提出的算法显著降低了计算复杂度并具有鲁棒、自主和安全的优势。