With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require precise navigation and docking in space. Having multiple, collaborating robots handling these tasks can greatly increase the efficiency of the mission in terms of time and cost. This article will introduce a modern and efficient control architecture for satellites on collaborative docking missions. The proposed architecture uses a centralized scheme that combines state-of-the-art, ad-hoc implementations of algorithms and techniques to maximize robustness and flexibility. It is based on a Model Predictive Controller (MPC) for which efficient cost function and constraint sets are designed to ensure a safe and accurate docking. A simulation environment is also presented to validate and test the proposed control scheme.
翻译:随着轨道中空间碎片数量的不断增长,防止进一步的太空污染的需求变得越来越明显。燃料加注,维护,检查和退役等任务是一些需要精确导航和对接的例子。拥有多个协作机器人来处理这些任务可以大大增加任务的效率和时间成本。本文将介绍一种先进高效的控制体系,用于多颗星卫星在协作对接任务中。所提出的体系采用集中的控制方案,将最先进的算法和技术的自由组合以最大限度地增加健壮性和灵活性。它基于模型预测控制器(MPC),设计了高效的成本函数和约束集,以确保安全准确的对接。还提供了一个模拟环境来验证和测试所提出的控制方案。