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On Lyapunov stability of artificial potential function-based low-thrust constellation reconfiguration control

ADVANCES IN SPACE RESEARCH 2024年第5期74卷 2316-2330页

作者： Fang, Zhengqing Liu, Fucheng Han, Fei Wang, Zhaokui Tsinghua Univ Sch Aerosp Engn 30 Shuangqing Rd Beijing 100084 Peoples R China Shanghai Key Lab Aerosp Intelligent Control Techno Shanghai 201109 Peoples R China Shanghai Inst Spaceflight Control Technol Shanghai 201109 Peoples R China

The configuration control of constellations which consist of numerous satellites presents significant challenges. Such space systems demand the capability for autonomous reconfiguration to accomplish specific missions. Individual satellites within constellations are primarily equipped with low-thrust systems, rendering traditional impulse control methods for satellite formation and mission planning ineffective. To address this issue, this paper proposes a low-thrust constellations reconfiguration control method utilizing an artificial potential function. Relying exclusively on neighboring state information, satellites can dynamically modulate their control efforts in real-time. The stability of the proposed reconfiguration control method is established under modelable, bounded perturbation using Lyapunov theory. Furthermore, a repulsive potential function is formulated to ensure collision avoidance among satellites. Numerical results indicate that the proposed method is stable, computationally efficient, and guarantees the safe distance during maneuvers. Consequently, this method is ideally suited for reconfiguration tasks across a spectrum of large space systems, including mega-constellations. (c) 2024 COSPAR. Published by Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： Constellation Reconfiguration control artificial potential function Low-thrust Lyapunov stability

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Autonomous Low-Thrust Control of Long-Distance Satellite Clusters Using artificial potential function

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JOURNAL OF THE ASTRONAUTICAL SCIENCES 2021年第1期68卷 71-95页

作者： Yu, Yanjun Yue, Chengfei Li, Huayi Wang, Feng Harbin Inst Technol Res Ctr Satellite Technol Harbin 150001 Peoples R China Harbin Inst Technol Inst Space Sci & Appl Technol Shenzhen 518055 Peoples R China

Thispaper investigates the micro-satellite cluster long-distance gathering control problem including initialization, orbit maintenance and collision avoidance operations. This problem is formulated using absolute orbital elements and newly developed quadratic artificial potential function based on these elements. Incorporating with the artificial potential function, a distributed autonomous low-thrust control method is proposed to solve the cluster gathering problem. Comparing with the fuel-optimal control problem formulated by equations established in Cartesian coordinates, the proposed method demonstrates geometrical intuition and possesses a low-cost computation burden. These advantages make the proposed method more suitable for controlling micro-satellite clusters. The stability of the autonomous low-thrust control method is proved using the Lyapunov method. Additionally, a Monte Carlo analysis is applied to demonstrate both the effectiveness and the collision avoidance ability of the presented algorithm.

关键词： Satellite cluster artificial potential function Autonomous low-thrust control

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Emergency Collision Avoidance and Mitigation Using Model Predictive Control and artificial potential function

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第5期8卷 3458-3472页

作者： Shang, Xu Eskandarian, Azim Virginia Tech Autonomous Syst & Intelligent Machines Lab Blacksburg VA 24061 USA

Aithough extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored. Moreover, most current algorithms don't consider collision mitigation in an emergency. This functionality is essential since the problem may have no feasible solution. We propose a safe controller using model predictive control and artificial potential function to address these problems. A new artificial potential function inspired by line charge is proposed as the cost function for our model predictive controller. The vehicle dynamics and actuator limitations are set as constraints. The new artificial potential function considers the shape of all objects. In particular, the artificial potential function we proposed has the flexibility to fit the shape of the road structures, such as the intersection. We could also realize collision mitigation for a specific part of the vehicle by increasing the charge quantity at the corresponding place. We have tested our methods in 192 cases from 8 different scenarios in simulation with two different models. The simulation results show that the success rate of the proposed safe controller is 20% higher than using HJ-reachability with system decomposition by using a unicycle model. It could also decrease 43% of collision that happens at the pre-assigned part. The method is further validated in a dynamic bicycle model.

关键词： Vehicle dynamics Roads Collision avoidance Collision mitigation Mathematical models Tires Predictive control Model predictive control artificial potential function collision avoidance crash mitigation

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Local path planning using a new artificial potential function composition and its analytical design guidelines

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ADVANCED ROBOTICS 2006年第1期20卷 115-135页

作者： Kim, DH Shin, S Kyungnam Univ Div Elect & Elect Engn Masan 631701 Kyungnam South Korea Univ Tokyo Sch Informat Sci & Technol Tokyo 1138656 Japan

This paper presents a new framework for path planning based on artificial potential functions (APFs). In this scheme, the APFs for path planning have a multiplicative and additive composition between APFs for goal destination and APFs for obstacle avoidance, unlike conventional composition where the APF for obstacle avoidance is added to the APF for goal destination. In particular, this paper presents a set of analytical guidelines for designing potential functions to avoid local minima for a number of representative scenarios based on the proposed framework for path planning. Specifically the following cases are addressed: (i) a non-reachable goal problem (a case in which the potential of the goal is overwhelmed by the potential of an obstacle), (ii) an obstacle collision problem (a case in which the potential of the obstacle is overwhelmed by the potential of the goal) and (iii) a narrow passage problem (a case in which the potential of the goal is overwhelmed by the potential of two obstacles). The example results for each case show that the proposed scheme can effectively construct a path-planning system with the capability of reaching a goal and avoiding obstacles despite possible local minima.

关键词： artificial potential function path planning local minimum obstacle avoidance non-reachable goal

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Suboptimal artificial potential function sliding mode control for spacecraft rendezvous with obstacle avoidance

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ACTA ASTRONAUTICA 2018年第Feb.期143卷 133-146页

作者： Cao, Lu Qiao, Dong Xu, Jingwen Acad Mil Sci China Natl Inst Def Technol Innovat Beijing 100081 Peoples R China Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China China Xian Satellite Control Ctr State Key Lab Astronaut Dynam Xian 710043 Shaanxi Peoples R China

Sub-Optimal artificial potential function Sliding Mode Control (SOAPF-SMC) is proposed for the guidance and control of spacecraft rendezvous considering the obstacles avoidance, which is derived based on the theories of artificial potential function (APF), sliding mode control (SMC) and state dependent riccati equation (SDRE) technique. This new methodology designs a new improved APF to describe the potential field. It can guarantee the value of potential function converge to zero at the desired state. Moreover, the nonlinear terminal sliding mode is introduced to design the sliding mode surface with the potential gradient of APF, which offer a wide variety of controller design alternatives with fast and finite time convergence. Based on the above design, the optimal control theory (SDRE) is also employed to optimal the shape parameter of APF, in order to add some degree of optimality in reducing energy consumption. The new methodology is applied to spacecraft rendezvous with the obstacles avoidance problem, which is simulated to compare with the traditional artificial potential function sliding mode control (APF-SMC) and SDRE to evaluate the energy consumption and control precision. It is demonstrated that the presented method can avoiding dynamical obstacles whilst satisfying the requirements of autonomous rendezvous. In addition, it can save more energy than the traditional APF-SMC and also have better control accuracy than the SDRE.

关键词： artificial potential function Terminal sliding mode control SDRE Spacecraft rendezvous Obstacle avoidance

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Self-organizing control for satellite clusters using artificial potential function in terms of relative orbital elements

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AEROSPACE SCIENCE AND TECHNOLOGY 2019年第Jan.期84卷 799-811页

作者： Wang Zhaokui Xu Yun Jiang Chao Zhang Yulin Tsinghua Univ Sch Aerosp Engn Beijing 100084 Peoples R China

Self-organizing control for satellite clusters is a challenging and promising problem which has drawn considerable attention in the recent past. The artificial potential function method has been widely used for self-organizing control due to its elegant mathematical analysis and simplicity. This paper proposes a set of self-organizing control rules for satellite clusters described by artificial potential functions, so that the reconfiguration, uniform distribution and collision avoidance operations can be achieved spontaneously. It may work regardless of the failure of satellites, attendance of new members or existence of space debris, and the corresponding communication and control system are completely distributed. Particularly, the artificial potential functions are written in terms of relative orbital elements derived from T-H equations, so that the self-organizing control can reflect relative motion dynamics, and guide the satellite along a fuel-efficient trajectory. The proposed method is especially suitable for highly distributed micro-satellite clusters and large-scale clusters to track moving targets, with few fuel cost and relatively high control accuracy, and it is applicable to clusters in either deep space or near-earth space. The stability of the control was proved by Lyapunov second method, and verified by Monte Carlo simulation. Finally, the comparison between self-organizing control and fuel-optimal control was made to demonstrate the performance properties. (C) 2018 Elsevier Masson SAS. All rights reserved.

关键词： Self-organizing control artificial potential function Relative orbital elements

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Spacecraft formation reconfiguration with multi-obstacle avoidance under navigation and control uncertainties using adaptive artificial potential function method

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Astrodynamics 2020年第1期4卷 41-56页

作者： Yi Wang Xiaoqian Chen Dechao Ran Yong Zhao Yang Chen Yuzhu Bai College of Aerospace Science and Engineering National University of Defense TechnologyChangsha410073China National Innovation Institute of Defense Technology Chinese Academy of Military SciencesBeijing10071China

In this paper,an adaptive artificial potential function(AAPF)method is developed for spacecraft formation reconfiguration with multi-obstacle avoidance under navigation and control ***,an improved Linear Quadratic Regular(ILQR)is proposed to track the reference trajectory and a Lyapunov-based method is employed to demonstrate the stability of the overall closed-loop *** with the traditional APF method and the equal-collision-probability surface(ECPS)method,the AAPF method not only retains the advantages of APF method and ECPS method,such as low computational complexity,simple analytical control law and easy analytical validation progress,but also proposes a new APF to solve multi-obstacle avoidance problem considering the influence of the ***,the ILQR controller obtains high control accuracy to enhance the safe performance of the spacecraft formation ***,the effectiveness of the proposed AAPF method and the ILQR controller are verified by numerical simulations.

关键词： spacecraft formation flying spacecraft formation reconfiguration collision avoidance artificial potential function uncertainties

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Security approaching method for debris capture based on artificial potential function

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Journal of Beijing Institute of Technology 2016年第S2期25卷 37-40页

作者：卢山孙玥武海雷阳光 Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligence Control Technology

According to the problem of capturing the debris of the debris population,the technology which can avoid collisions with the debris population and ensure the chaser safety in the process of capturing the target fragments is ***,the relative dynamic equation between the chaser and capture position of the space debris is established in line of sight ***,the security approaching guidance law is designed based on the artificial potential function which includes two parts:the one is the attractive potential function which make the chaser move from the controlled state to the expected state and the other part is the repulsive potential function based on the Gaussian function which make the chaser far away from the highly potential ***,the computer numerical simulation results demonstrate the validity and effectiveness of the safe elusion arithmetic.

关键词： space debris population artificial potential function safe elusion

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An artificial potential function For Battery Life Optimization In Car-following System 21st

An Artificial Potential Function For Battery Life Optimizati...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Liu, Bo Yang, Yingze Liao, Hongtao Zhang, Rui Chen, Bin Gao, Kai Zhou, Feng Liu, Weirong Huang, Zhiwu Peng, Jun Cent South Univ Sch Automat Changsha 410083 Peoples R China Cent South Univ Sch Comp Sci & Engn Changsha 410083 Peoples R China Changsha Univ Sci & Technol Coll Automot & Mech Engn Changsha 410114 Peoples R China Changsha Univ Sci & Technol Sch Elect & Informat Engn Changsha 410114 Peoples R China

For a pure electric car-following system, if the auto-following vehicle acts in an aggressive following manner, battery life fades evidently, since overcharging or over-discharging damage the cell irreversibly. In this regard, this paper proposed an artificial potential function for battery life extension. First, the electric vehicle physical model and an empirical lithium-ion battery model have established form real-world data measurement. The physical layer models car-following dynamics and the battery model describes the energy consumption. Second, with the perceptive of the battery life in a loss-minimal, optimize manner, the controller mathematically computes the optimal acceleration/deceleration value with the Lagrange multipliers method. Then using the Matlab curve fitting tool toolbox to fusion optimal acceleration data with potential function, thus the acceleration consistent rule is realized through the consistency of an artificial potential function. Finally, the control strategy is validated through a simulation test in Matlab/Simulink, and the results show that the proposed control strategy extends battery life while keeping good tracking ability. Copyright (C) 2020 The Authors.

关键词： car-following control strategy battery life optimization artificial potential function

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Three -axes Attitude Maneuvering of Rigid Spacecraft with Two Internal Torques Using artificial potential function 2

Three -axes Attitude Maneuvering of Rigid Spacecraft with Tw...

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2nd Conference on Fully Actuated System Theory and Applications (CFASTA)

作者： Chao Duan Qinglei Hu Xiaodong Shao Huai-Ning Wu Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Tianmushan Lab Hangzhou 310023 Peoples R China Beihang Univ Sch Aeronaut Sci & Engn Beijing 100191 Peoples R China

ISBN: (纸本)9798350332162

This paper proposes a control algorithm for underactuated spacecraft with two internal angular momentum exchange devices. In this paper, a geometric constraint of the feasible angular velocity is characterized by the absence of one degree of freedom control torque under the assumption of zero angular momentum of the system, and can be further rendered as a keep-out pointing constraint for attitude dynamics. A special potential function is then proposed for system guidance to evade the unfeasible trajectories while achieving the convergence of the control system to the desired attitude. It is shown that the closed-loop system is ultimately uniformly bounded by the Lyapunov stability theory. Finally, numerical simulations are conducted to corroborate the effectiveness and performance of the proposed control scheme.

关键词： Underactuated spacecraft attitude control artificial potential function

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