轻量模型预测控制用于航天器对接姿态同步
Lightweight Model Predictive Control for Spacecraft Rendezvous Attitude Synchronization
AI总结：
本文提出两种轻量模型预测控制方法，用于航天器对接同步过程中的姿态跟踪，通过新颖的姿态偏差公式实现角速度的线性约束，验证了在资源受限环境下姿态控制的可行性。
摘要：
本文介绍两种轻量模型预测控制（MPC）方法，用于在航天器对接同步过程中利用反应轮进行姿态跟踪。两种方法均基于新颖的姿态偏差公式，使角速度能够使用内在线性约束。我们开发了单环和双环MPC；后者在内环嵌入稳定反馈控制器，产生线性时不变系统。两种控制器均使用CasADi实现，包括自动代码生成，并在各种求解器上进行评估，验证于Basilisk天体动力学仿真框架中。实验结果表明，这些方法在跟踪精度、计算努力和内存消耗方面均有改进。最后，将这些方法嵌入到ARM Cortex-M7（代表新空间平台中使用的商用现成设备）中，确认了这些方法在实时可行性，并突显了其在资源受限航天器对接任务中姿态控制的适用性。
英文摘要：
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation, which enables the use of inherently linear constraints on angular velocity. We develop a single-loop and a dual-loop MPC; the latter embeds a stabilizing feedback controller within the inner loop, yielding a linear time-invariant system. Both controllers are implemented with CasADi - including automatic code generation - evaluated across various solvers, and validated within the Basilisk astrodynamics simulation framework. The experimental results demonstrate improved tracking accuracy alongside reductions in computational effort and memory consumption. Finally, embedded delivery to an ARM Cortex-M7 - representative of commercial off-the-shelf devices used in New Space platforms - confirms the real-time feasibility of these approaches and highlights their suitability for onboard attitude control in resource-constrained spacecraft rendezvous missions.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
