AI 中文总结
针对多服务航天器与翻滚目标交会对接问题，提出分布式六自由度MPC框架，通过嵌入约束实现安全对接与避碰，MATLAB验证成功。
AI 中文摘要
航天器小型化的日益增长趋势，加上轨道碎片数量的指数级增加，催生了一种新的运行范式，即部署多个小型服务航天器，共同交会、对接并服务大型翻滚目标。单个小型航天器对于此类目标通常在推力或可达范围上受到限制，然而在近距离内安全协调多个自主航天器仍然是一个开放的挑战。本文提出了一种概念验证的分布式六自由度模型预测控制（MPC）框架，用于多个服务航天器在预测时域内对翻滚目标进行安全交会对接（RVD），且各航天器无需了解彼此在预测时域内的预测输入。所提出的框架通过嵌入约束强制执行软对接条件、服务航天器间避碰和障碍物规避，同时通过线性时不变（LTI）公式保持计算可行性。在MATLAB中使用三个服务航天器和固定障碍物布置进行的验证确认了所有约束均得到满足，并成功实现了对接。
英文摘要
The growing trend of miniaturization in space, combined with an exponential increase in orbital debris, motivates a new operational paradigm, that is the deployment of multiple small servicers to collectively rendezvous, dock and service large tumbling targets. A single small spacecraft is often limited in thrust or reach for such targets, yet coordinating multiple autonomous spacecraft safely in close proximity remains an open challenge. This paper presents a proof-of-concept decentralized 6-DOF model predictive control (MPC) framework for multiple servicers to safely rendezvous and dock (RVD) to a tumbling target with no knowledge about each others predicted input over the prediction horizon. The proposed framework enforces soft docking conditions, inter-servicer collision avoidance, and obstacle avoidance through embedded constraints, while remaining computationally tractable via a linear time-invariant (LTI) formulation. Validation in MATLAB with three servicers and fixed obstacle arrangements confirms that all constraints are satisfied and successful docking is achieved.
CommentsAccepted as a contributing paper to the iSpaRo 2026 conference
