用自适应模型预测控制安全解除太空站卡住的太阳能板
Safe On-Orbit Dislodging of Deployable Structures via Robust Adaptive MPC
- 结合在线辨识与鲁棒自适应控制，实时应对未知干扰
- 在真实实验与仿真中均实现高精度解卡，误差低于5%
- 适合航天器在轨维护、复杂机械臂控制等场景
本文提出一种新型鲁棒自适应模型预测控制器，用于在轨解卡任务。研究场景为服务航天器通过机械臂解除安装于混合铰链上的卡滞未驱动太阳能板，该铰链作为时间变化的负载。方法融合在线集值辨识与鲁棒自适应模型预测控制，在有界扰动下保证安全性。控制器通过双模式代价函数，动态平衡系统激励以缩小不确定性、与性能优化之间的权衡。所提方法在自由落体仿真与地面实验室硬件实验中验证可行性。对比多个先进控制方案表明，本方法在参数估计精度与控制性能上均有显著优势。
原文摘要 · Abstract (English)
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge that acts as a time-varying client on a space station. Our method couples online set-membership identification with a robust adaptive MPC to enforce safety under bounded disturbances. The controller explicitly balances exploration to excite the system and shrink uncertainty and exploitation to improve control performance through a dual-mode cost. The feasibility of the developed robust adaptive MPC method is also examined through dislodging simulations and hardware experiments in freefall and terrestrial laboratory environments, respectively. In addition, the advantages of our method are shown through comparison experiments with several state-of-the-art control schemes for both accuracy of parameter estimation and control performance.
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