School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
ISA Trans. 2019 Jan;84:128-141. doi: 10.1016/j.isatra.2018.09.020. Epub 2018 Oct 3.
This paper proposes a dynamic path planning and trajectory tracking algorithm for an autonomous satellite, released from the space station, to get to the desired position for performing space tasks. The complex construction of the space station results in the presence of a geometric channel constraint for the obstacles avoidance. In addition, a three dimension B-spline template with minimizing the curvature of the path is designed, which could guarantee the continuity of the curvature to make the trajectory smooth and avoid the satellite from stopping at discontinuities waypoints. Then, the reference states and inputs are solved by a new projection method, which provides a foundation for the subsequent trajectory tracking. Subsequently, a finite horizon model predictive control method is constructed for the path tracking. The benefits of this approach are to take constraints into consideration, and to get optimal performance by minimizing the fuel consumption compared with other tracking controllers. The closed-loop stability is guaranteed by the feedback controller, terminal penalty, and a newly terminal constraint set. In simulation experiments, results illustrate the effectiveness and practicality of the algorithm.
本文提出了一种用于自主卫星的动态路径规划和轨迹跟踪算法，该卫星从空间站释放，以到达执行太空任务的期望位置。空间站的复杂结构导致存在几何通道障碍物避碰约束。此外，设计了一个具有最小化路径曲率的三维 B 样条模板，这可以保证曲率的连续性，使轨迹平滑，并避免卫星在不连续的航点处停止。然后，通过一种新的投影方法求解参考状态和输入，为后续的轨迹跟踪提供了基础。随后，为路径跟踪构建了一个有限时域模型预测控制方法。与其他跟踪控制器相比，这种方法的优点是可以考虑约束条件，并通过最小化燃料消耗来获得最佳性能。闭环稳定性由反馈控制器、终端罚和新的终端约束集来保证。在仿真实验中，结果表明了该算法的有效性和实用性。
