SE(3) based LTV-MPC algorithm for multi-obstacle trajectory tracking of fully driven spacecraft

A linear time-varying model predictive control (LTV-MPC) method based on SE (3) is proposed, to solve the problem of the control accuracy and energy consumption of spacecraft. First, left-invariant principle of Lie group, Lie algebra SO (3), and other differential geometry theories are applied to ex...

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Bibliographic Details
Published in:IEEE access 2024-01, Vol.12, p.1-1
Main Authors: Wang, Wenbang, Peng, Xiaokang, Ai, Jia, Fu, Cheng, Li, Chaobo, Zhang, Zejian
Format: Article
Language:English
Subjects:
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Algorithms
Attitude control
Collision avoidance
Controllers
Differential geometry
Energy consumption
Force
Lie groups
LTV-MPC
Mathematical models
Obstacle avoidance
Orbits
Predictive control
Space vehicles
Spacecraft
Spacecraft control
Spacecraft tracking
Trajectory
Trajectory control
Trajectory tracking
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Summary:A linear time-varying model predictive control (LTV-MPC) method based on SE (3) is proposed, to solve the problem of the control accuracy and energy consumption of spacecraft. First, left-invariant principle of Lie group, Lie algebra SO (3), and other differential geometry theories are applied to extend LTV-MPC to SE (3). Then, considering the obstacle avoidance problem of the spacecraft in space, a suitable optimization function is selected to ensure smooth tracking of the desired working trajectory. By controlling the incremental output with the fastest convergence rate, the controller enables effective trajectory tracking. Finally, the effectiveness and applicability of the controller are verified by simulation experiments. These simulations validate the controller's ability to achieve constraint satisfaction, optimize transient processes, and enhance control accuracy. The results provide compelling evidence of the controller's potential for real-world spacecraft control applications.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2024.3371159