状态和输入受限下逼近翻滚目标的航天器相对姿轨鲁棒联合控制

The precise attitude and orbit motion control of servicing spacecraft is a prerequisite for the capture of the tumbling target. Comprehensively considering the time-varying uncertainties of the system structure and parameters, the practical constraints of collision avoiding, limited field-of-view of sensor, actuator constraint, and so on, this project focuses on the integrated relative attitude and orbit control problem during the approaching phase..Based on the robust control and predictive control methods, we shall investigate the robust identification of the coupled relative attitude and orbit dynamics to maintain robustness against uncertainties. Another key research area is to find the robust controller design method that considers the state and input constraints..Key scientific and technological problems to be solved include: effective description of impact of the uncertainties on closed-loop systems, modeling of the nonlinear optimization with the complicated practical constraints. Through this project, the robust controller of integrated relative attitude and orbit motion will be developed to deal with the time-varying uncertainties and complicated constraints. This shall be applied to the design of safe approaching strategy for on-orbit capturing system, and we expect to provide the theoretical supports and design references for the on-orbit servicing project in China's aerospace field.

服务星精确的姿态和轨道运动控制是完成翻滚目标星在轨捕获的先决条件。考虑目标星的未知翻滚特性所带来的系统结构和参数的时变不确定性，以及服务星所面临的多种工程约束，如安全防碰撞、敏感器视场约束、执行器受限等，本项目基于鲁棒控制和预测控制方法，力图解决近距离逼近翻滚目标过程中相对姿轨运动联合控制的技术难点。针对系统的多种时变不确定性，研究相对姿轨耦合动力学系统的鲁棒辨识方法；针对复杂工程约束，研究面向状态和输入受限的相对姿轨鲁棒联合控制方法。重点解决两类科学问题：多类时变不确定性对闭环系统影响的有效定量描述、复杂多约束下的非线性优化问题建模。通过以上研究，发展针对时变不确定性和复杂多约束的相对姿轨鲁棒联合控制方法，应用于在轨捕获系统的安全逼近策略设计，为我国航天领域“在轨服务重大工程”提供一定的理论依据和技术支撑。

本项目以空间在轨服务为任务背景，考虑服务星面临的多源不确定性和各种工程约束，提出了一系列相应的航天器相对轨道姿态控制算法。本项目的主要研究内容如下：（1）针对航天器交会和悬停任务，考虑轨道动力学未建模动态、卫星质量不确定性、外界干扰等有界不确定性，基于滑模控制、自适应控制等先进控制理论，研究了目标交会、悬停等任务的航天器相对轨道和姿态多目标综合控制方法；（2）航天器在执行任务过程中，面临轨道推力、控制力矩等执行能力有限，同时需要满足姿态指向约束、防碰撞约束、视场约束等状态约束。基于抗饱和技术、模型预测控制和参数优化方法，研究了状态和输入受限下的航天器相对轨道和姿态控制方法。本项目考虑质量参数不确定性、未建模动态、空间扰动等多源时变不确定性，以及姿态和角速度约束、防碰撞、输入受限等状态受限，围绕着航天器运动鲁棒控制方向做了较为充分的研究工作，为空间在轨服务中的卫星自主控制基础理论与应用研究奠定了基础。