论文标题
基于抽样的3-D视线PWA模型模型预测性控制自主会合和与翻滚目标对接
Sampling-based 3-D Line-of-Sight PWA Model Predictive Control for Autonomous Rendezvous and Docking with a Tumbling Target
论文作者
论文摘要
在本文中，使用3-D视线（LOS）动力学和Euler态度动力学的分段仿射（PWA）模型，采用了模型预测控制（MPC）框架，以滚动目标实现自主会合和对接（AR＆D）。考虑通过近似线性模型获得的预测与非线性动力学的实际状态之间的误差，提出了基于采样的PWA MPC来采样实际状态较近邻域中的预测。此外，还提供了新颖的约束结构，以减少车载计算成本和时间延迟。此外，还提供了一种无奇异性的策略，以平稳地实现角度态的奇异性。然后，通过对目标对接端口进行连续的6型姿势（位置和态度）跟踪来实现任务，并考虑了目标对接端口的位置和态度之间的耦合。最后，提出数值结果以证明上述理论。
In this paper, a model predictive control (MPC) framework is employed to realize autonomous rendezvous and docking (AR&D) with a tumbling target, using the piecewise affine (PWA) model of the 3-D line-of-sight (LOS) dynamics and Euler attitude dynamics. Consider the error between the predictions obtained by the approximate linear model and the actual states of nonlinear dynamics, a sampling-based PWA MPC is proposed to sample the predictions in the closer neighborhood of the actual states. Besides, novel constructions of constraints are presented to reduce the on-board computation cost and time-delay. Furthermore, a singularity-free strategy is provided to realize crossing the singularity of angle states smoothly. Then, the mission is achieved by continuous 6-DOF pose (position and attitude) tracking of the target's docking port, with the coupling between the position and attitude of the target's docking port is taken into account. Finally, numerical results are presented to demonstrate the above theories.
