脉冲推力下多星协同搬运的预测博弈控制

During on-orbit assembly, multiple microsatellites are employed to transport the assembly structure collaboratively to the desired location near the main assembly structure. To meet several constraints of orbit transfer control during cooperative transportation and reduce consumption of onboard resources, the game-based control method for multiple microsatellites with impulse thrust is studied. Considering the independence and cooperativity of each microsatellite, a game model for cooperative transportation is constructed by taking relative orbital dynamics as the model and the quadratic form of control accuracy and energy consumption as the local objective function. Each microsatellite can optimize the local objective function to obtain the control strategy, avoiding the control allocation required by the traditional centralized method. In view of the control ability and communication ability of microsatellites, the impulse thrust is introduced, which is easier to implement than the continuous thrust. The impulse thrust is combined with the control amplitude constraint as a force constraint with periodic and amplitude restriction, and is taken, together with the torque constraint for avoiding disturbing the attitude, as the control constraints of the game model. To solve the multi-constraint game problem, a predictive game control algorithm is designed to approach the Nash equilibrium strategy in a distributed manner, which distributes the computational burden among microsatellites and improves fault tolerance of the method. Numerical simulation shows that the proposed control method can effectively deal with several control constraints, and is significantly better than the traditional centralized method in terms of fuel consumption and communication pressure.