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

作　　者：Yifeng MA Yizhai ZHANG Panfeng HUANG Ya LIU Fan ZHANG 

机构地区：[1]The Research Center for Intelligent Robotics,School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China [2]School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Chinese Journal of Aeronautics》2024年第8期358-372,共15页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.62222313,62173275,62327809,62303381,and 62303312);in part by the China Postdoctoral Science Foundation(No.2023M732225).

摘　　要：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 feedback pursuit-evasion game with a dynamic target,where the primary condition is to ensure the stability 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 precisely maintaining the configuration.Finally,numerical simulations are performed to demonstrate the effectiveness of the proposed scheme.

关 键 词：Game theory Formation control Artificial potential field Relative distance constraint Tethered space net robot(TSNR) 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计] V528