首页|Game theory based finite-time formation control using artificial potentials for tethered space net robot

Game theory based finite-time formation control using artificial potentials for tethered space net robot

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The Tethered Space Net Robot(TSNR)is an innovative solution for active space debris capture and removal.Its large envelope and simple capture method make it an attractive option for this task.However,capturing maneuverable debris with the flexible and elastic underactuated net poses significant challenges.To address this,a novel formation control method for the TSNR is proposed through the integration of differential game theory and robust adaptive control in this paper.Specifically,the trajectory of the TSNR is obtained through the solution of a real-time feed-back pursuit-evasion game with a dynamic target,where the primary condition is to ensure the sta-bility of the TSNR.Furthermore,to minimize tracking errors and maintain a specific configuration,a robust adaptive formation control scheme with Artificial Potential Field(APF)based on a Finite-Time Convergent Extended State Observer(FTCESO)is investigated.The proposed control method has a key advantage in suppressing complex oscillations by a new adaptive law,thus pre-cisely maintaining the configuration.Finally,numerical simulations are performed to demonstrate the effectiveness of the proposed scheme.

Game theoryFormation controlArtificial potential fieldRelative distance constraintTethered space net robot(TSNR)

Yifeng MA、Yizhai ZHANG、Panfeng HUANG、Ya LIU、Fan ZHANG

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The Research Center for Intelligent Robotics,School of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China

School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaChina Postdoctoral Science Foundation

62222313621732756232780962303381623033122023M732225

2024

10.1016/j.cja.2024.04.011

中国航空学报(英文版)
中国航空学会

中国航空学报(英文版)

CSTPCDEI
影响因子：0.847
ISSN：1000-9361
年,卷(期)：2024.37(8)
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