Distributed control allocation for cellular space robots in takeover control

Spacecraft takeover control provides a new idea for on-orbit service to extend the lifetime of spacecraft. In this paper, cellular space robots (CSR) are implemented in spacecraft takeover control. On the foundation of the takeover control dynamic model for CSRs, a distributed control allocation algorithm based on consensus-based bundle algorithm (CBBA) is proposed. This market-based algorithm allows the distributed and asynchronous allocation for CSRs. The profit of the CSR depends on the capability matching with the task, energy level and output limits. The consensus allocation is achieved by auction procedure and consensus procedure. As a comparison, a centralized algorithm called null-space intersection is considered. Monte Carlo simulations indicate that the algorithm proposed in this paper can achieve energy consumption balance of the CSRs while allocating the control tasks.