Global trajectory planning and control of rendezvous of non-cooperative targets based on double-layer MPC

DONG Kaikai; LUO Jianjun; MA Weihua; GAO Dengwei; TAN Longyu

doi:10.7527/S1000-6893.2021.24903

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2021 , Vol. 42 >Issue 11: 524903 - 524903

DOI: https://doi.org/10.7527/S1000-6893.2021.24903

Article

Global trajectory planning and control of rendezvous of non-cooperative targets based on double-layer MPC

DONG Kaikai ,
LUO Jianjun ,
MA Weihua ,
GAO Dengwei ,
TAN Longyu

Expand

1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. No. 203 Research Institute of China Ordnance Industries, Xi'an 710065, China;
3. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China

Received date: 2020-10-20

Revised date: 2020-11-12

Online published: 2021-02-24

Supported by

National Natural Science Foundation of China (61690210,61690211); Shanghai Sailing Program (18YF1410200)

Fold

Abstract

For the global optimal problem of trajectory planning and tracking control in ultra-close Line-of-Sight (LOS) rendezvous of non-cooperative targets, a double-layer Model Predictive Control (MPC) algorithm is proposed based on the Gaussian Pseudo-spectral Method (GPM) and Linear Time-Varying Model Predictive Control (LTVMPC). In the layer of trajectory planning, an optimization model is established with minimum fuel and optimal control accuracy as performance indicators. The global optimal nominal trajectory is obtained by the GPM method in the MPC framework, which overcomes the disadvantage that traditional MPC is not suitable for global large-scale nonlinear programming. In the layer of trajectory tracking control, considering the time-varying characteristics of the state transition matrix in the prediction horizon, LTVMPC is used to track the nominal trajectory, so as to avoid re-planning of the trajectory in the presence of uncertainty and thus reduce online calculation and ensure online autonomous implementation of the algorithm. Due to the same constraints considered by the planning layer and the control layer, the planning trajectory is controllable and reachable. The simulation results show that the proposed method is significantly better than the traditional MPC method in terms of fuel consumption and rendezvous time. Compared with those of the traditional method, the rendezvous time and fuel consumption based on the proposed method are reduced by about 50% and 30%, respectively.

Key words： non-cooperative space target; Line-of-Sight (LOS) coordinate system; double-layer model predictive control; Gaussian Pseudo-spectral Method (GPM); Linear Time-Varying Model Predictive Control (LTVMPC)

Cite this article

DONG Kaikai , LUO Jianjun , MA Weihua , GAO Dengwei , TAN Longyu . Global trajectory planning and control of rendezvous of non-cooperative targets based on double-layer MPC[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021 , 42(11) : 524903 -524903 . DOI: 10.7527/S1000-6893.2021.24903

References

[1] 孙冲, 袁建平, 万文娅, 等. 自由翻滚故障卫星外包络抓捕及抓捕路径优化[J]. 航空学报, 2018, 39(11):322192. SUN C, YUAN J P, WAN W Y, et al.Outside envelop grasping method and approaching trajectory optimization for tumbling malfunctional satellite capture[J]. Acta Aeronautica et Astronautica Sinica, 2018, 39(11):322192(in Chinese).
[2] LU P, LIU X. Autonomous trajectory planning for rendezvous and proximity operations by conic optimization[J]. Journal of Guidance, Control, and Dynamics, 2013, 36(2):375-389.
[3] 罗亚中. 空间最优交会路径规划策略研究[D]. 长沙:国防科学技术大学, 2007:73-81. LUO Y Z. Study on space optimal rendezvous trajectory planning approach[D]. Changsha:National University of Defense Technology, 2007:73-81(in Chinese).
[4] TANG G J, LUO Y Z, LI H Y. Optimal robust linearized impulsive rendezvous[J]. Aerospace Science and Technology, 2007, 11(7-8):563-569
[5] BOYARKO G, YAKIMENKO O, ROMANO M. Optimal rendezvous trajectories of a controlled spacecraft and a tumbling object[J]. Journal of Guidance, Control, and Dynamics, 2011, 34(4):1239-1252.
[6] 耿远卓, 李传江, 郭延宁, 等. 单推力航天器交会对接轨迹规划及跟踪控制[J]. 航空学报, 2020, 41(9):323880. GENG Y Z, LI C J, GUO Y N, et al.Rendezvous and docking of spacecraft with single thruster:Path planning and tracking control[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(9):323880(in Chinese).
[7] CAUBET A, BIGGS J D. An inverse dynamics approach to the guidance of spacecraft in close proximity of tumbling debris[C]//Proceedings of the International Astronautical Congress, 2015.
[8] VENTURA J, CIARCIÀ M, ROMANO M, et al. Fast and near-optimal guidance for docking to uncontrolled spacecraft[J]. Journal of Guidance, Control, and Dynamics, 2017, 40(12):3138-3154.
[9] 雍恩米, 陈磊, 唐国金. 飞行器轨迹优化数值方法综述[J]. 宇航学报, 2008, 29(2):397-406. YONG E M, CHEN L, TANG G J. A survey of numerical methods for trajectory optimization of spacecraft[J]. Journal of Astronautics, 2008, 29(2):397-406(in Chinese).
[10] CHAI R Q, SAVVARIS A, TSOURDOS A, et al. A review of optimization techniques in spacecraft flight trajectory design[J]. Progress in Aerospace Sciences, 2019, 109:100543.
[11] CHU X Y, ZHANG J R, LU S, et al. Optimised collision avoidance for an ultra-close rendezvous with a failed satellite based on the Gauss pseudospectral method[J]. Acta Astronautica, 2016, 128:363-376.
[12] 罗淑贞, 孙青林, 檀盼龙, 等. 基于高斯伪谱法的翼伞系统复杂多约束轨迹规划[J]. 航空学报, 2017, 38(3):320363. LUO S Z, SUN Q L, TAN P L, et al.Trajectory planning of parafoil system with intricate constraints based on Gauss pseudo-spectral method[J]. Acta Aeronautica et Astronautica Sinica, 2017, 38(3):320363(in Chinese).
[13] JIANG X Q, LI S, FURFARO R. Integrated guidance for Mars entry and powered descent using reinforcement learning and pseudospectral method[J]. Acta Astronautica, 2019, 163:114-129.
[14] GAVILAN F, VAZQUEZ R, CAMACHO E F. Chance-constrained model predictive control for spacecraft rendezvous with disturbance estimation[J]. Control Engineering Practice, 2012, 20(2):111-122.
[15] HARTLEY E N, TRODDEN P A, RICHARDS A G, et al. Model predictive control system design and implementation for spacecraft rendezvous[J]. Control Engineering Practice, 2012, 20(7):695-713.
[16] DI CAIRANO S, PARK H, KOLMANOVSKY I. Model predictive control approach for guidance of spacecraft rendezvous and proximity maneuvering[J]. International Journal of Robust and Nonlinear Control, 2012, 22, 1398-1427.
[17] LI Q, YUAN J P, ZHANG B, et al. Model predictive control for autonomous rendezvous and docking with a tumbling target[J]. Aerospace Science and Technology, 2017, 69:700-711.
[18] ZAGARIS C, PARK H, VIRGILI-LLOP J, et al. Model predictive control of spacecraft relative motion with convexified keep-out-zone constraints[J]. Journal of Guidance, Control, and Dynamics, 2018, 41(9):2054-2062.
[19] WEISS A, BALDWIN M, ERWIN R S, et al. Model predictive control for spacecraft rendezvous and docking:strategies for handling constraints and case studies[J]. IEEE Transactions on Control Systems Technology, 2015, 23(4):1638-1647.
[20] MAMMARELLA M, CAPELLO E, PARK H, et al. Tube-based robust model predictive control for spacecraft proximity operations in the presence of persistent disturbance[J]. Aerospace Science and Technology, 2018, 77:585-594.
[21] DONG K K, LUO J J, DANG Z H, et al. Tube-based robust output feedback model predictive control for autonomous rendezvous and docking with a tumbling target[J]. Advances in Space Research, 2020, 65(4):1158-1181.
[22] LI P, ZHU Z H. Line-of-sight nonlinear model predictive control for autonomous rendezvous in elliptical orbit[J]. Aerospace Science and Technology, 2017, 69:236-243.
[23] EREN U, PRACH A, KOÇER B B, et al. Model predictive control in aerospace systems:Current state and opportunities[J]. Journal of Guidance, Control, and Dynamics, 2017, 40(7):1541-1566.
[24] DANG Z H, ZHANG Y L. Formation control using μ-synthesis forinner-formation gravity measurement satellite system[J]. Advances in Space Research, 2012, 49(10):1487-1505.
[25] FEHSE W. Automated rendezvous and docking of spacecraft[M]. Cambridge:Cambridge University Press, 2003:21-22.

Options

Outlines

模态框（Modal）标题

Abstract

Cite this article

References