Inverse Dynamics based Model Predictive Control for Spacecraft Rapid Attitude Maneuver

被引：4

作者：

Song, Chao ^{[1
]}

Islas, Genaro ^{[1
]}

Schilling, Klaus ^{[1
]}

机构：

[1] Julius Maximilians Univ Wurzburg, D-97074 Hubland, Germany

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 12期

关键词：

Inverse Dynamics; Predictive Control; Attitude Control; Time-optimal Control;

D O I：

10.1016/j.ifacol.2019.11.078

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

By optimizing a given cost function repeatedly at every iterative loop, model predictive control (MPC), also known as receding horizon control (RHC), is capable to cope with a wide range of control problems and is a promising method to be adapted to spacecraft attitude control. This paper mainly introduces an inverse dynamics based MPC (IDMPC) with dedicated parameterization of attitude interpolation, and a simple time near-optimal scheme of MPC is adopted to realize rapid attitude maneuver. While conventional MPC discretizes the dynamics model and predicts the states with control torques to be optimized, IDMPC, instead, approximates the state trajectories via interpolating among control points. Case study shows the effectiveness of this method. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

引用

页码：111 / 116

页数：6

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