A multi-spacecraft pursuit control method based on dynamic game theory

Abstract

The invention relates to a multi-spacecraft chasing and fleeing control method based on dynamic game theory. According to the space environment where the spacecraft is located, ignoring all perturbing forces, a multi-spacecraft dynamics model is established in the gravitational field at the center of the earth, also known as dynamics. Equation, this model includes three roles of target spacecraft, defense spacecraft and attack spacecraft; according to the role relationship of each spacecraft in the dynamic model, the payoff function of the spacecraft and the termination target set of the chasing and fleeing game are determined to establish a multi- Spacecraft game model; use dynamic game theory to process, get two-point boundary value equations, two-point boundary value equations include co-state vector differential equations and new dynamic equations represented by co-state vectors, and time cross-section equations; Aiming at the two-point boundary value equation obtained in the established two-point boundary value problem, the solution of the equation is obtained by using the combination of particle swarm algorithm and nonlinear programming method, so as to obtain the optimal control strategy and optimal control strategy for spacecraft pursuit and escape. track.

Description

technical field [0001] The invention relates to a multi-spacecraft chase and escape control method based on dynamic game theory, and belongs to the technical field of spacecraft control. Background technique [0002] Similar to the pursuit and escape on the ground, for the purpose of pursuit or anti-pursuit, the relative motion scene involving at least two spacecraft under the action of control force is called the space pursuit and escape of the spacecraft. Space chasing and escape technology plays an important role in spacecraft space security and on-orbit service. Due to the inconsistency of mission objectives among spacecraft, the control strategy of spacecraft can be analyzed by using the idea of ​​non-cooperative dynamic game. The so-called dynamic game (ISAACS R. Differential Games [M]. New York: John Wiley and Sons, 1965: 1-5.), that is, in the confrontation process of the participants, at least one participant can use the state information in the previous process T...

AI Technical Summary

Problems solved by technology

The function of the linear model adopted by Hayoun is to deal with the situation of relatively short distance, and although it is a multi-spacecraft game, it does not include defensive spacecraft, and its role is limited; although Rusnak’s model includes three parties of pursuit, escape and defense, it proposes two time The method of analyzing under the history will lead to the complex situation of the index function, which is cumbersome in the process of use; the model of Yifang Liu et al. is a simplified multi-spacecraft game model, because the protected person in this model, that is, the target spacecraft does not have It has the ability to maneuver, and uses the relative position relationship of the terminals of the three spacecraft as the index function to simplify the solution process, but the form of the index function and the terminal target set is repeated

[0005] In short, the existing models for studying multi-spacecraft pursuit and escape are not perfect. They all split the multi-spacecraft game into multiple double-spacecraft games, and model and solve them under multiple time histories. The model is complex and the solution strategy Most of the initial value guessing is required, and it is difficult to guarantee convergence

Images