Non-cooperative target proximity control based on Lyapunov-MPC method

DU Xingrui; MENG Yunhe; LU Lu

doi:10.13471/j.cnki.acta.snus.2023B047

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Non-cooperative target proximity control based on Lyapunov-MPC method

Research articles | 更新时间：2024-04-10

- Non-cooperative target proximity control based on Lyapunov-MPC method
- Acta Scientiarum Naturalium Universitatis Sunyatseni Vol. 63, Issue 2, Pages: 85-94(2024)
- 作者机构：
  
  中山大学人工智能学院，广东珠海 519082
- 作者简介：
- 基金信息：
- DOI：10.13471/j.cnki.acta.snus.2023B047
  CLC： V19
- Published：25 March 2024，
  
  Published Online：26 September 2023，
  
  Received：09 July 2023，
  
  Accepted：02 August 2023
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杜兴瑞,孟云鹤,陆璐.基于Lyapunov-MPC方法的非合作目标近距离抵近控制[J].中山大学学报(自然科学版)(中英文),2024,63(02):85-94.

DU Xingrui,MENG Yunhe,LU Lu.Non-cooperative target proximity control based on Lyapunov-MPC method[J].Acta Scientiarum Naturalium Universitatis Sunyatseni,2024,63(02):85-94.
杜兴瑞,孟云鹤,陆璐.基于Lyapunov-MPC方法的非合作目标近距离抵近控制[J].中山大学学报(自然科学版)(中英文),2024,63(02):85-94. DOI： 10.13471/j.cnki.acta.snus.2023B047.

DU Xingrui,MENG Yunhe,LU Lu.Non-cooperative target proximity control based on Lyapunov-MPC method[J].Acta Scientiarum Naturalium Universitatis Sunyatseni,2024,63(02):85-94. DOI： 10.13471/j.cnki.acta.snus.2023B047.

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 design 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 robustness 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

Keywords

non-cooperative targetclose line of sightnonlinear dynamic systemcontrol Lyapunov functionmodel predictive control

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Department of Computer Science， Guangdong University of Education

South China University of Technology / Key Laboratory of Autonomous Systems and Networked Control， Ministry of Education / Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong

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