摘要
For achieving the desired configuration of spacecraft at the desired fixed time,a suboptimal fixed-finite-horizon configuration control method on the Lie group SE(3)is developed based on the Model Predictive Static Programming(MPSP).The MPSP technique has been widely used to solve finite-horizon optimal control problems and is known for its high computational efficiency thanks to the closed-form solution,but it cannot be directly applied to systems on SE(3).The methodological innovation in this paper enables that the MPSP technique is extended to the geometric control on SE(3),using the variational principle,the left-invariant properties of Lie groups,and the topology structure of Lie algebra space.Moreover,the energy consumption,which is crucial for spacecraft operations,is considered as the objective function to be optimized in the optimal control formulation.The effectiveness of the designed sub-optimal control method is demonstrated through an online simulation under disturbances and state measurement errors.
基金
the support of the TUM University Foundation Fellowship。
