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

作　　者：杜兴瑞 孟云鹤 陆璐[1] DU Xingrui;MENG Yunhe;LU Lu(School of Artificial Intelligence,Sun Yat-sen University,Zhuhai 519082,China)

机构地区：[1]中山大学人工智能学院,广东珠海519082

出　　处：《中山大学学报（自然科学版）（中英文）》2024年第2期85-94,共10页Acta Scientiarum Naturalium Universitatis Sunyatseni

基　　金：国家自然科学基金(61673390)。

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。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 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]