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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Autonomous Robotic Capture of a Satellite Using Constrained Predictive Control
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Autonomous Robotic Capture of a Satellite Using Constrained Predictive Control

机译：使用约束预测控制的自动自主捕获卫星

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This paper investigates the use of model-based predictive control for the capture of a multi-degrees-of-freedom object that moves in a somewhat predictable manner, using a deployable manipulator. The study is conducted through both computer simulations and ground-based experiments with the intended application focused on automating the robotic capture of a free-floating and spinning satellite. The present investigation uses an innovative manipulator known as the multi module deployable manipulator system (MDMS), which has been designed and built in our laboratory. The MDMS is used to capture the simulated target satellites. The objective is to evaluate the performance of the predictive controller for the capturing task and to investigate the need and feasibility of incorporating constraints into the controller. Offline solutions to multi parametric quadratic programming (mp-QP) problems are used to create a lookup table so that constrained optimal control decisions can be made in real time. Moreover, a suboptimal formulation of the mp-QP problem has been used to reduce the size of the online lookup table and to mitigate any numerical problems. The results show that when the satellite motion is predicted, the tracking performance is improved. Furthermore, when the physical constraints of the system are formulated into the optimization, the controller becomes aware of its own limitations and the approach toward the satellite is improved by eliminating the possible overshooting of the target
机译：本文研究了使用基于模型的预测控制来捕获使用可部署操纵器以某种可预测方式运动的多自由度对象的捕获。这项研究是通过计算机模拟和地面实验进行的，其预期应用集中在自动捕获自由漂浮和旋转卫星的机器人上。本研究使用一种创新的机械手，称为多模块可部署机械手系统（MDMS），该系统已在我们的实验室中设计和建造。 MDMS用于捕获模拟目标卫星。目的是评估用于捕获任务的预测控制器的性能，并研究将约束合并到控制器中的必要性和可行性。用于解决多参数二次编程（mp-QP）问题的脱机解决方案用于创建查找表，以便可以实时制定受限的最佳控制决策。此外，已使用mp-QP问题的次优公式来减小在线查找表的大小并减轻任何数值问题。结果表明，在预测卫星运动时，跟踪性能得到了改善。此外，当系统的物理约束条件被制定为优化方案时，控制器将意识到自身的局限性，并通过消除目标的可能过冲来改进对卫星的处理方法

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