Multi-Arm Spacecraft MPC With Gaussian Disturbance Compensation
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Solution Overview
Problem
Existing on-orbit service spacecraft control methods face challenges such as mismatched control abilities, high calculation loads, and limited maneuverability due to free-floating modes and reliance on flywheels, exacerbated by disturbances and data-intensive training requirements, which affect task performance and efficiency.
Innovation Solution
A multi-arm spacecraft model predictive control method using the mixture of Gaussian processes to estimate disturbances, incorporate kinematic and dynamic models, and employ jet thrusters for platform control, with on-off control mode and thrust distribution to ensure trajectory tracking and platform maneuverability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional controller design is used in joint space, then control theory is well-established, but it requires additional inverse kinematics solution causing mismatch of control ability and large amount of calculation
Solution Approach 1:
The patent inverts the traditional control approach by designing the controller directly in task space rather than joint space. This inversion eliminates the need for inverse kinematics solutions while maintaining control effectiveness, directly addressing the computational burden and control ability mismatch problems
2Measurement precision
If neural networks and fuzzy networks are used for disturbance modeling, then initial performance is improved, but it requires a large amount of training data
Solution Approach 1:
The patent replaces complex neural networks and fuzzy networks with a simpler disturbance observer that requires minimal training data. This approach achieves comparable disturbance estimation accuracy without the heavy data requirements and computational complexity of traditional methods
3Device complexity
If free-floating mode is used for spacecraft, then spacecraft structure is simplified, but maneuverability is weak and operating range is limited
Solution Approach 1:
The patent introduces jet thrusters to transform the spacecraft from a static free-floating mode to a dynamic controlled mode. This allows the spacecraft to actively adjust its platform pose and orientation, significantly improving maneuverability and operating range while maintaining structural simplicity
4Stability of the object's composition
If robust design method is used, then control stability is improved, but it needs to assume that the total disturbance has an upper bound
Solution Approach 1:
The patent employs a disturbance observer that continuously estimates and compensates for disturbances in real-time. This feedback mechanism provides both stability through active compensation and adaptability by adjusting to varying disturbance conditions without requiring predetermined upper bound assumptions
Data Source
AI summary
The present disclosure provides a multi-arm spacecraft model predictive control method based on the mixture of Gaussian processes, equipment, and a medium. Model predictive control has excellent performance in dealing with complex nonlinear systems such as multi-arm spacecrafts with various constraints, and is widely applied to ground robots, unmanned aerial vehicles, autonomous driving and other practical scenarios. Therefore, a task space controller is designed based on the model predictive control in the present disclosure. Besides, in order to enhance the anti-interference capability of the present disclosure, an interference model is established and compensation is carried out in the model predictive control by utilizing the characteristics of small training data volume and high training speed in the mixture of Gaussian processes. Finally, a thrust distribution method is designed to complete platform control. The method provided by the present disclosure is convenient and intuitive in design and has relatively high practicability.