Game control method for space target flexible capture means

Abstract

The invention discloses a game control method for a flexible capturing means of a space target. The method comprises the following steps: acquiring state information of each satellite of the space flexible capture system; determining an initial state sequence function of each satellite based on the state information of each satellite; designing a weighted DNN network to fit the initial state sequence function, and obtaining a final state sequence function of each satellite; and determining a predicted tension sequence of each satellite based on the final state sequence function of each satellite. According to a traditional flexible capture control method, a formation control scheme is adopted to take tension generated by a flexible net as external interference, a passive suppression method is adopted for compensation, but the control strategy ignores the intrinsic nature of the flexible net, when one moonlet maneuvers, the tension is generated through the net and transmitted to other moonlets, and thus the moonlet can be effectively captured. And the tension generated by the net influences other satellites.

Description

Technical Field

[0001] The present invention relates to the research fields of flexible capture control and space target capture technology, and in particular to a game control method for flexible capture means of space targets. Background Art

[0002] The space flexible capture system is a new type of flexible capture method for targets such as space debris, failed satellites, and hostile spacecraft. It consists of four small satellites carrying a flexible net. It has the advantages of large envelope, easy capture, and collision-free debris. It can simply, safely, and reliably complete the space target capture task. The formation control of each small satellite inside the space flexible capture system is the basis of the capture task. At present, the formation control scheme designed in patents CN105905319A and CN108319135A regards the tension generated by the flexible net as external interference and compensates it by passive suppression. However, this control strategy ignores the inherent nature of the flexible net. When a small satellite maneuvers, tension will be generated through the net and transmitted to other small satellites. This force will not only have a negative effect on the control accuracy, but also have a positive effect. The data-driven method can well describe the complex relationship between satellites caused by the constraints of the flexible net, and the control method based on game theory is suitable for such scenarios where multiple intelligent agents interact with each other. Therefore, the present invention combines data-driven and game theory to propose a flexible capture cooperative game formation control strategy for capture tasks. By characterizing the relationship between small satellites interacting through a flexible net, the essence of the space flexible capture system is further explored, and its control capability is greatly improved. Summary of the invention

[0003] The embodiment of the present invention provides a game control method for flexible capture of space targets, which at least solves the problem that the traditional flexible capture control method adopts a formation control scheme to treat the tension generated by the flexible net as external interference and compensates it by a passive suppression method. However, this control strategy ignores the inherent nature of the flexible net. When a small satellite maneuvers, tension will be generated through the net and transmitted to other small satellites, resulting in the technical problem that the tension generated by the net affects other satellites.

[0004] According to one aspect of an embodiment of the present invention, a game control method for a flexible capture means of a space target is provided. The method may include: obtaining the state information of each satellite of the space flexible capture system; determining the initial state sequence function of each satellite based on the state information of each satellite; designing a weighted DNN network to fit the initial state sequence function to obtain the final state sequence function of each satellite; determining the predicted tension sequence of each satellite based on the final state sequence function of each satellite; obtaining the predicted state quantity of each satellite of the space flexible capture system based on the predicted tension sequence, control quantity and state quantity of each satellite; obtaining the tracking error of each satellite based on the predicted state quantity of each satellite and the expected state quantity of each satellite; defining the coordinated error between different satellites in the space flexible capture system based on the tracking error of each satellite; obtaining the cost function of each satellite based on the coordinated error between different satellites, the control quantity of each satellite and the weight matrix; solving the Pareto optimal control quantity of each satellite through the model prediction method based on the cost function of each satellite.

[0005] Optionally, based on the state information of each satellite, an initial state sequence function of each satellite is determined, including: based on the state information of each satellite, determining the initial state sequence of each satellite; based on the initial state sequence of each satellite, obtaining the initial state sequence function of each satellite.

[0006] Optionally, after determining the initial state sequence function of each satellite based on the state information of each satellite, the method further includes: determining an initial tension sequence of each satellite based on the initial state sequence function of each satellite.

[0007] Optionally, a weighted DNN network is designed to fit the state sequence function, and the expression of the final state sequence function of each satellite is obtained as follows:

[0008] Φ=W L+1 φ(W L (…φ(W 1 X i )…))

[0009] Where Φ is the ReLu activation layer, θ = W 1 , …, W L+1 represents a weight, L represents the number of layers, X i is the state sequence function.

[0010] Optionally, based on the predicted tension sequence, control quantity and state quantity of each satellite, the expression of the predicted state quantity of each satellite of the space flexible capture system is obtained as follows:

[0011]

[0012] in, represents the first predicted state of the ith satellite, r0 represents the radius of the ith satellite orbit, ω represents the angular velocity of the ith satellite orbit, represents the acceleration of the orbit of the ith satellite, u i represents the control amount of the i-th satellite, represents the predicted tension sequence of the ith satellite, x i Represents the state quantity of the i-th satellite.

[0013] Optionally, based on the predicted state quantity of each satellite and the expected state quantity of each satellite, the expression of the tracking error of each satellite is obtained as follows:

[0014]

[0015] in, represents the tracking error of the ith satellite, represents the predicted state of the ith satellite, represents the expected state of the i-th satellite.

[0016] Optionally, based on the coordination error between different satellites, the control amount and weight matrix of each satellite, the expression of the cost function of each satellite is obtained as follows:

[0017]

[0018] Among them, J i represents the cost function of each satellite, t represents time, and the value range of t is t o ~t f , t0 and t f represents the initial and terminal moments, T represents transposition, and e i represents the coordination error between the ith satellite and other satellites except the ith satellite, Q i , R i and R ij Both represent weight matrices, u i represents the control amount of the i-th satellite, represents the predicted control quantity of the i-th satellite, u j represents the control amount of the jth satellite, The predicted control quantity of the jth satellite, N i represents the number of satellites other than the i-th satellite in the space flexible capture system, represents the transpose of the predicted control quantity for the jth satellite.

[0019] Beneficial effects of the present invention:

[0020] The invention proposes a game control method for a flexible capture means of a space target. A neural network tension observer is first designed to estimate and predict the tension of a flexible net based on a DNN (Deep Neural Network), thereby revealing the interaction relationship between satellites through the flexible net. On this basis, a distributed cooperative game formation control strategy is proposed, so that each small satellite can actively control the influence of the tension of the flexible net caused by its own maneuver on other satellites through interaction and optimization, thereby solving the problem that the traditional flexible capture control method adopts a formation control scheme to treat the tension generated by the flexible net as external interference and adopts a passive suppression method to compensate. However, this control strategy ignores the inherent nature of the flexible net. When a small satellite maneuvers, tension will be generated through the net and transmitted to other small satellites, resulting in the technical problem that the tension generated by the net affects other satellites. The invention achieves the technical effect of combining data drive, game theory and formation control methods, so that the satellites in the flexible net reach a balanced state, and the movement of any satellite in the flexible net will not affect other satellites. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 is a flow chart of a game control method for a flexible capture means of a space target according to an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of a space flexible capture system according to an embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of the process of capturing a target by a space flexible capture system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Example 1

[0028] According to an embodiment of the present invention, a game control method for a flexible capture means for a space target is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system comprising at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0029] Figure 1 is a flow chart of a game control method for a flexible capture means of a space target according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0030] Step S101, obtaining status information of each satellite of the space flexible capture system.

[0031] In the technical solution provided in the above step S101 of the present invention, before obtaining the status information of each satellite of the space flexible capture system, the dynamic model of the space flexible capture system is:

[0032]

[0033] in, represents the derivative of the state quantity of node mn in the space flexible capture system, x mn represents the state quantity of node mn in the space flexible capture system, u mn represents the control quantity of node mn in the space flexible capture system, T mn Represents the tension of node mn in the spatial flexible capture system.

[0034] The biggest difference from other spacecraft is the tension T generated by the flexible net. mn In the flexible network, each mesh edge between two adjacent nodes is simplified as a spring damping model. Therefore, the tension calculation formula of node mn is:

[0035]

[0036] Among them, T mn represents the tension of node mn, N mn is the set of adjacent nodes of node mn; T mn-kh is the tension between node mn and node kh; l z and l mn-kh They represent the initial length and actual length of the grid, Δl mn-kh = l mn-kh -l z is the elongation of the mesh; E is the Young's modulus of the mesh material; A is the cross-sectional area of ​​the mesh; is the elastic modulus; is the unit vector from node mn to node kh.

[0037] According to dynamics, the tension T of satellite i is i is related to its nearby nodes, and these nodes are affected by their respective neighbors. Generalizing outward, it can be seen that the four satellites influence each other through the network transmission force. Therefore, T i is caused by the maneuver of adjacent satellites and can be expressed as:

[0038] T i =f(x i , x -i ,u i ,u -i )

[0039] Among them, x -i and u -i is the state and control quantity of the adjacent unit of the i-th satellite; x i ,u i are the state and control of the i-th satellite, respectively. f is a function that represents the mapping from state and control to tension, which is highly nonlinear. Although an analytical solution can be obtained by calculating the tension of each node in the network, it is unrealistic to obtain the state of each node in practical applications. At the same time, the function has a very obvious time lag. The vibration caused by a satellite will be transmitted to the adjacent satellites through the network like a wave. Therefore, the current force T i，k Related to the past state, the present state will generate new tension sequences in the future.

[0040] Step S102: determining an initial state sequence function of each satellite based on the state information of each satellite.

[0041] In the technical solution provided in the above step S102 of the present invention, the initial state sequence function of each satellite is obtained according to the state information of each satellite.

[0042] Step S103, design a weighted DNN network to fit the initial state sequence function to obtain the final state sequence function of each satellite.

[0043] In the technical solution provided in step S103 of the present invention, a weight θ=W is designed. 1 , …, W L+1 The DNN is used to fit the initial state sequence function to obtain the final state sequence function of each satellite.

[0044] Step S104, determining the predicted tension sequence of each satellite based on the final state sequence function of each satellite.

[0045] In the technical solution provided in the above step S104 of the present invention, the predicted tension sequence of each satellite is determined according to the final state sequence function of each satellite.

[0046] Step S105, based on the predicted tension sequence, control quantity and state quantity of each satellite, the predicted state quantity of each satellite of the space flexible capture system is obtained.

[0047] In the technical solution provided in the above step S105 of the present invention, the predicted state quantity of each satellite of the space flexible capture system is obtained according to the predicted tension sequence, control quantity and state quantity of each satellite.

[0048] Step S106, obtaining the tracking error of each satellite based on the predicted state quantity of each satellite and the expected state quantity of each satellite.

[0049] In the technical solution provided in the above step S106 of the present invention, the difference between the predicted state quantity of each satellite and the expected state quantity of each satellite is determined as the tracking error of each satellite.

[0050] Step S107, based on the tracking error of each satellite, defining the coordination error between different satellites in the space flexible capture system.

[0051] In the technical solution provided in the above step S107 of the present invention, according to the tracking error, the expression of the coordination error is defined as:

[0052]

[0053] Among them, a ij and b i is a constant.

[0054] Defining global error The derivative of the coordinated error is: where n is the number of satellites, T is the transpose,

[0055]

[0056] in, l i is the Laplace matrix The i-th column of Same b i is a matrix The i-th column of From the above formula, we can see that there is a cooperative relationship between satellites, n is the number of satellites, and T is the transpose.

[0057] Step S108, based on the coordination errors between different satellites, the control amount of each satellite and the weight matrix, a cost function of each satellite is obtained.

[0058] In the technical solution provided in the above step S108 of the present invention, the cost function of each satellite is determined according to the coordination error between different satellites, the control amount of each satellite and the weight matrix.

[0059] Step S109, based on the cost function of each satellite, the Pareto optimal control quantity of each satellite is solved by a model prediction method.

[0060] In the technical solution provided in the above step S109 of the present invention, Figure 2 is a schematic diagram of a space flexible capture system according to an embodiment of the present invention. Figure 2 As shown in the figure, there are 4 small satellites and a flexible network. In a cooperative game with n participants, for any two game strategy sets and u=[u1,…,u n ] T , if the following conditions exist, then u * Better than u in the Pareto sense: where the participant is for each satellite,

[0061]

[0062] If no other strategy is better than u * , then u * is the Pareto optimal solution. Pareto optimality can be seen as a consensus among participants, that is, it is impossible to increase the benefits of a participant without causing losses to other participants. Pareto optimality can be obtained by minimizing the cost function of all participants:

[0063]

[0064] where λ i ∈(0,1) is the cost function weight of participant i,

[0065] In order to obtain the Pareto optimal solution of the designed cooperative game, a model prediction solution strategy is proposed. First, the game model is discretized and iterated. First, the dynamics of the satellite are discretized:

[0066]

[0067] Among them A k and B k is the discrete dynamics matrix.

[0068] Then we get the discrete collaborative consistency error:

[0069]

[0070] in The same goes for other matrices.

[0071] Then, the formula is used in the prediction time domain [t k , t k +N p-1 ] and define the error sequence and control sequence: Then the game model becomes:

[0072]

[0073] Next, do the same with the cost function, and its discrete iterative form is:

[0074]

[0075] in,

[0076] Due to the coupling between the game model and the cost function, a single satellite cannot calculate its optimal game strategy independently. In order to achieve distributed formation control, the cost function is further decoupled:

[0077]

[0078] Satellite i can only optimize its own strategy, so U is not included in the formula i，k The term is discarded. Therefore, the game controller can be transformed into the following quadratic form (QP) problem:

[0079]

[0080] During the game, satellite i at each time t k Based on its own information and the control strategy of adjacent units U j and status information X j , solve the above QP problem to obtain the Pareto optimal strategy. After obtaining the optimal strategy sequence U i Then extract the first item and through The actual control quantity is calculated. Figure 3 It is a schematic diagram of the process of capturing a target by a space flexible capture system according to an embodiment of the present invention.

[0081] The above method of this embodiment is further introduced below.

[0082] As an optional implementation method, step S102, based on the state information of each satellite, determines the initial state sequence function of each satellite, including: based on the state information of each satellite, determines the initial state sequence of each satellite; based on the initial state sequence of each satellite, obtains the initial state sequence function of each satellite.

[0083] In this embodiment, based on the status information of each satellite Get the initial state sequence of each satellite According to the initial state sequence of each satellite, the initial state sequence function of each satellite (Φ(X i (t k -N p Δt|t k ))).

[0084] As an optional implementation manner, in step S102, after determining the initial state sequence function of each satellite based on the state information of each satellite, the method further includes: determining the initial tension sequence of each satellite based on the initial state sequence function of each satellite.

[0085] In this embodiment, based on the state sequence function of each satellite, the expression for determining the initial tension sequence of each satellite is:

[0086] T i (t k +N p Δt|t k )=Φ(X i (t k -N p Δt|t k ))

[0087] Among them, Φ(X i (t k -N P Δt|t k )) is the state sequence function of the i-th satellite, X i (t k -N p Δt|t k ) represents the initial state sequence of the i-th satellite The expression of the initial state is Np For the prediction time domain, represents the transposition of the state quantity of the neighboring satellites of the i-th satellite at the k-th time, represents the transpose of the control quantity of the i-th satellite at the k-th time, represents the transposition of the control quantity of the neighboring satellites of the i-th satellite at the k-th time, represents the transpose of the state of the i-th satellite at the k-th time, T i (t k +N p Δt|T k ) represents the initial tension sequence

[0088] As an optional implementation mode, in step S103, a weighted DNN network is designed to fit the state sequence function, and the expression of the final state sequence function of each satellite is obtained as follows:

[0089] Φ=W L+1 φ(W L (…φ(W 1 X i )…))

[0090] Where Φ is the ReLu activation layer, θ = W 1 , …, W L+1 represents a weight, L represents the number of layers, X i is the state sequence function.

[0091] After determining the predicted tension sequence of each satellite based on the final state sequence function of each satellite, the method further includes: determining a target loss function based on the predicted tension sequence of each satellite and the initial tension sequence of each satellite.

[0092] The objective loss function L is defined as follows:

[0093]

[0094] in is the tension T i ; α and β are positive hyperparameters.

[0095] Loss Function It consists of two parts: the estimation part L e and the prediction part L p . Part I e The purpose is to estimate the tension value at each moment:

[0096]

[0097] Where γ is a positive number. Since excessive tension can lead to damage to the net or even instability of the entire system, overestimation of tension is allowed, but underestimation is not allowed. Therefore, γ is set between (0, 0.5) to penalize underestimation.

[0098] Part II p The purpose of is to predict the change of tension over a period of time, so it has the following form:

[0099]

[0100] Among them, η n ∈(0, 1) is a discount factor. Due to the time lag between satellites, the current state X i (t k ) for the tension T at the next moment i (t k +Δt) has little effect, on the contrary, it will have a greater impact on the tension in the near future. n Strongly related to time.

[0101] As an optional implementation mode, in step S105, based on the predicted tension sequence, control quantity and state quantity of each satellite, the expression of the predicted state quantity of each satellite of the space flexible capture system is obtained as follows:

[0102]

[0103] in, represents the first predicted state of the ith satellite, r0 represents the radius of the ith satellite orbit, ω represents the angular velocity of the ith satellite orbit, represents the acceleration of the orbit of the ith satellite, u i represents the control amount of the i-th satellite, represents the predicted tension sequence of the ith satellite, x i Represents the state quantity of the i-th satellite.

[0104] In this embodiment, it is further defined The predicted state quantity of each satellite of the space flexible capture system can also be obtained as:

[0105]

[0106] As an optional embodiment, in step S107, based on the predicted state quantity of each satellite and the expected state quantity of each satellite, the expression of the tracking error of each satellite is obtained as follows:

[0107]

[0108] in, represents the tracking error of the ith satellite, represents the predicted state of the ith satellite, represents the expected state of the i-th satellite.

[0109] As an optional implementation mode, in step S109, based on the coordination error between different satellites, the control amount of each satellite and the weight matrix, the expression of the cost function of each satellite is obtained as follows:

[0110]

[0111] Among them, J i represents the cost function of each satellite, t represents time, and the value range of t is t o ~t f , t0 and t0 represent the initial and terminal moments, T represents the transpose, e i represents the coordination error between the ith satellite and other satellites except the ith satellite, Q i , R i and R ij Both represent weight matrices, u i represents the control amount of the i-th satellite, represents the predicted control quantity of the i-th satellite, u j represents the control amount of the jth satellite, The predicted control quantity of the jth satellite, N i represents the number of satellites other than the i-th satellite in the space flexible capture system, represents the transpose of the predicted control quantity for the jth satellite.

[0112] In an embodiment of the present invention, the state information of each satellite in the space flexible capture system is obtained; based on the state information of each satellite, the initial state sequence function of each satellite is determined; a weighted DNN network is designed to fit the initial state sequence function to obtain the final state sequence function of each satellite; based on the final state sequence function of each satellite, the predicted tension sequence of each satellite is determined; based on the predicted tension sequence, control quantity and state quantity of each satellite, the predicted state quantity of each satellite in the space flexible capture system is obtained; based on the predicted state quantity of each satellite and the expected state quantity of each satellite, the tracking error of each satellite is obtained; based on the tracking error of each satellite, the coordinated error between different satellites in the space flexible capture system is defined; based on the coordinated error between different satellites The error, the control amount of each satellite and the weight matrix are used to obtain the cost function of each satellite; based on the cost function of each satellite, the Pareto optimal control amount of each satellite is solved by the model prediction method, which solves the problem that the traditional flexible capture control method adopts a formation control scheme to treat the tension generated by the flexible net as external interference, and uses a passive suppression method to compensate. However, this control strategy ignores the inherent nature of the flexible net. When a small satellite maneuvers, tension will be generated through the net and transmitted to other small satellites, causing the tension generated by the net to affect other satellites. The technical problem is achieved by combining data-driven, game theory and formation control methods to make the satellites in the flexible net reach a balanced state, and the movement of any satellite in the flexible net will not affect other satellites.

[0113] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0114] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0116] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0117] In addition, each functional unit in each embodiment of the present invention may be integrated into a first processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0118] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A game control method for flexible capture of space targets, characterized in that: include: Obtain status information of each satellite in the space flexible capture system; Based on the state information of each satellite, determining an initial state sequence function of each satellite; Design a weighted DNN network to fit the initial state sequence function and obtain the final state sequence function of each satellite; Determining a predicted tension sequence for each satellite based on the final state sequence function for each satellite; Based on the predicted tension sequence, control quantity and state quantity of each satellite, the predicted state quantity of each satellite of the space flexible capture system is obtained; Based on the predicted state quantity of each satellite and the expected state quantity of each satellite, the tracking error of each satellite is obtained; Based on the tracking error of each satellite, the coordination error between different satellites in the space flexible capture system is defined; Based on the coordination errors between different satellites, the control amount and weight matrix of each satellite, the cost function of each satellite is obtained; Based on the cost function of each satellite, the Pareto optimal control quantity of each satellite is solved by the model prediction method.

2. The method according to claim 1, characterized in that The step of determining the initial state sequence function of each satellite based on the state information of each satellite comprises: Based on the state information of each satellite, determining an initial state sequence of each satellite; Based on the initial state sequence of each satellite, an initial state sequence function of each satellite is obtained.

3. The method according to claim 1, characterized in that: After determining the initial state sequence function of each satellite based on the state information of each satellite, the method further includes: Based on the initial state sequence function of each satellite, the initial tension sequence of each satellite is determined.

4. The method according to claim 1, characterized in that The design of a weighted DNN network to fit the state sequence function obtains the expression of the final state sequence function of each satellite as follows: Φ=W L+1 φ(W L (…φ(W 1 X i )…)) Where Φ is the ReLu activation layer, θ = W 1 , …, W L+1 represents a weight, L represents the number of layers, X i is the state sequence function.

5. The method according to claim 1, characterized in that Based on the predicted tension sequence, control quantity and state quantity of each satellite, the expression of the predicted state quantity of each satellite of the space flexible capture system is obtained as follows: in, represents the first predicted state of the ith satellite, r0 represents the radius of the ith satellite orbit, ω represents the angular velocity of the ith satellite orbit, represents the acceleration of the orbit of the ith satellite, u i represents the control amount of the i-th satellite, represents the predicted tension sequence of the ith satellite, x i Represents the state quantity of the i-th satellite.

6. The method according to claim 1, characterized in that The expression of the tracking error of each satellite obtained based on the predicted state quantity of each satellite and the expected state quantity of each satellite is: in, represents the tracking error of the ith satellite, represents the predicted state of the ith satellite, represents the expected state of the i-th satellite.

7. The method according to claim 1, characterized in that The expression of the cost function of each satellite is obtained based on the coordination error between different satellites, the control amount and weight matrix of each satellite: Among them, J i represents the cost function of each satellite, t represents time, and the value range of t is t o ~t f , t0 and t f represents the initial and terminal moments, T represents transposition, and e i represents the coordination error between the ith satellite and other satellites except the ith satellite, Q i , R i and R ij Both represent weight matrices, u i represents the control amount of the i-th satellite, represents the predicted control quantity of the i-th satellite, u j represents the control amount of the jth satellite, The predicted control quantity of the jth satellite, N i represents the number of satellites other than the i-th satellite in the space flexible capture system, represents the transpose of the predicted control quantity for the jth satellite.

8. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 7 when running.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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