具有非凸约束的航天器姿态机动预测控制

摘要

针对航天器带有非凸几何约束以及输入有界的问题,提出了一种姿态机动预测控制算法.分析了姿态机动所受到的几何约束,并对非凸二次形式约束及其Hesse矩阵进行研究,证明了该约束的非凸性.通过对正定Hesse矩阵的构造,给出非凸约束凸化映射关系.最后给出姿态机动预测控制律,解决了由于姿态机动过程中非凸约束造成的全局解收敛困难以及路径安全性问题.数值仿真结果显示该算法不仅能在大范围内得到优化姿态路径,同时满足所有约束.%A predictive control algorithm is presented in this paper for spacecraft attitude maneuver with nonconvex geometric constraint and bounded inputs. The nonconvex property of the geometric constraint is proved based on the analysis of its Hessian matrix. Then the transformation from nonconvex constraint to convex one is presented by constructing positive definite Hessian matrix. Consequently, a predictive control algorithm for spacecraft attitude maneuver is presented, and it can readily obtain global solution , as well as to solve the safety problem. The simulation results show that the presented algorithm can achieve optimal attitude path and satisfy all constraints.