基于Lyapunov-MPC方法的非合作目标近距离抵近控制
Non-cooperative target proximity control based on Lyapunov-MPC method
杜兴瑞 1孟云鹤 1陆璐1
作者信息
- 1. 中山大学人工智能学院,广东 珠海 519082
- 折叠
摘要
针对航天器近距离视线抵近同时存在轨道与姿态机动的非合作目标特定方位控制问题,提出了一种基于控制Lyapunov函数(CLF)的模型预测控制方法(LMPC).首先,根据视线坐标系下的轨道动力学方程,建立了满足视线指向要求的航天器相对轨道动力学模型,并推导了期望轨道的解析表达式.其次,利用MPC方法设计控制器进行在线优化控制,并通过纳入基于李雅普洛夫方法的非线性反步控制的显式特征,构建收缩约束式,以确保闭环稳定性.接着,对基于LMPC的控制方法的递归可行性和闭环稳定性进行了证明.最后,仿真结果证明了所设计的LMPC轨迹跟踪方法的有效性和鲁棒性.
Abstract
A model predictive control method based on Lyapunov function(LMPC)is proposed to control the specific orientation of non-cooperative spacecraft with orbit and attitude maneuvers.Firstly,according to the orbital dynamics equation in the line-of-sight coordinate system,the relative orbital dynamics model of the spacecraft satisfying the requirements of line-of-sight direction is established,and the analytical expression of the expected orbit is derived.Secondly,the MPC method is used to de-sign the controller for online optimization control,and the contraction constraint formula is constructed to ensure the closed-loop stability by incorporating the display features of the nonlinear backstepping control based on the Lyapunov method.Then,the recursive feasibility and closed-loop stability of LMPC based control method are proved.Finally,the simulation results prove the effectiveness and ro-bustness of the proposed LMPC trajectory tracking method.
关键词
非合作目标/近距离视线抵近/非线性动力学系统/控制Lyapunov函数/模型预测控制Key words
non-cooperative target/close line of sight/nonlinear dynamic system/control Lyapunov function/model predictive control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据