Safety-critical control for multiple spacecraft close-proximity inspection

IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE
Zijie Lin , Baolin Wu
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Abstract

This paper investigates the control problem for multiple spacecraft in an on-orbit inspection mission. The spacecraft swarm consists of a tumbling target and multiple chasers that are commanded to approach and inspect the target. The primary control objective is to maintain the chaser hovering above the tumbling target while steadily pointing towards it. The approach process must adhere to several safe motion constraints: 1) avoid collisions among chasers and target; 2) prevent chasers from occluding each other’s camera field of view; 3) ensure that sunlight does not invade the field of view. To achieve this, a novel control scheme is proposed, which includes two components: a robust tracking controller based on fully actuated system approach, and a safety-critical control framework that uses control barrier function with quadratic programming. This strategy separates the control system into two layers: the former for tracking stability and the latter as a safety control correction to satisfy constraints. First, the models of fully actuated systems for relative motion and attitude on SO(3) are derived. Then, a fixed-time disturbance observer is applied to the tracking controller. Subsequently, six-degree-of-freedom multiple motion constraints are modeled. The backup control barrier function method is utilized in safety-critical control framework, considering spacecraft high-order dynamics and limited inputs. Finally, the comparative simulation results demonstrate the effectiveness of the proposed control scheme in a multispacecraft inspection scenario.
多航天器近距离检测的安全关键控制
研究了多航天器在轨检测任务中的控制问题。宇宙飞船群由一个翻滚的目标和多个被命令接近和检查目标的追逐者组成。主要的控制目标是保持追逐者在翻滚的目标上方盘旋,同时稳定地指向目标。接近过程必须遵守几个安全运动约束:1)避免追逐者和目标之间的碰撞;2)防止追逐者遮挡对方的相机视野;3)确保太阳光不侵入视野。为了实现这一目标,提出了一种新的控制方案,该方案包括两个部分:基于全驱动系统方法的鲁棒跟踪控制器和使用二次规划控制屏障函数的安全关键控制框架。该策略将控制系统分为两层:第一层用于跟踪稳定性,第二层用于满足约束的安全控制校正。首先,建立了全驱动系统在SO(3)上的相对运动和姿态模型。然后,将定时扰动观测器应用于跟踪控制器。随后,对六自由度多运动约束进行建模。考虑航天器的高阶动力学和有限输入,在安全关键控制框架中采用了备用控制屏障函数方法。最后,对比仿真结果验证了该控制方案在多航天器检测场景下的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Aerospace Science and Technology
Aerospace Science and Technology 工程技术-工程:宇航
CiteScore
10.30
自引率
28.60%
发文量
654
审稿时长
54 days
期刊介绍: Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.
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