用MPC实现卫星对接零冲击，同步自旋不扰动目标
MPC for momentum counter-balanced and zero-impulse contact with a free-spinning satellite
- 通过非线性MPC协调姿态与操作模块，建模二者耦合动态
- 在噪声和位置变化下仍保持自旋同步与零冲量接触
- 适合需要精准对接的在轨服务任务，如卫星维修
在轨机器人作业中，服务卫星与自旋目标卫星的接触能力对完成多数在轨服务任务至关重要。本文提出一种非线性模型预测控制（MPC）框架，用于生成服务卫星实现与自由自旋目标卫星零冲量接触的可行控制指令。整个机动需协调服务卫星的两个独立驱动模块：（1）力矩生成模块，（2）操作模块。我们通过显式建模两模块间的交叉耦合动力学，应用MPC同时控制二者。结果表明，该控制器能施加先前方法无法处理的执行器与状态约束。通过数值蒙特卡洛（MC）试验模拟零冲量接触场景，并与以往控制方法对比性能。仿真验证了该控制器在操作约束、接触位置变动、观测与执行噪声条件下，仍能有效维持自旋同步与零冲量接触。
原文摘要 · Abstract (English)
In on-orbit robotics, a servicer satellite's ability to make contact with a free-spinning target satellite is essential to completing most on-orbit servicing (OOS) tasks. This manuscript develops a nonlinear model predictive control (MPC) framework that generates feasible controls for a servicer satellite to achieve zero-impulse contact with a free-spinning target satellite. The overall maneuver requires coordination between two separately actuated modules of the servicer satellite: (1) a moment generation module and (2) a manipulation module. We apply MPC to control both modules by explicitly modeling the cross-coupling dynamics between them. We demonstrate that the MPC controller can enforce actuation and state constraints that prior control approaches could not account for. We evaluate the performance of the MPC controller by simulating zero-impulse contact scenarios with a free-spinning target satellite via numerical Monte Carlo (MC) trials and comparing the simulation results with prior control approaches. Our simulation results validate the effectiveness of the MPC controller in maintaining spin synchronization and zero-impulse contact under operation constraints, moving contact location, and observation and actuation noise.
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