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Research Article

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

Yi Wang1,2, Xiaoqian Chen2, Dechao Ran2, Yong Zhao1, Yang Chen1, Yuzhu Bai1( )
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China
National Innovation Institute of Defense Technology, Chinese Academy of Military Sciences, Beijing 10071, China
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Abstract

In this paper, an adaptive artificial potential function (AAPF) method is developed for spacecraft formation reconfiguration with multi-obstacle avoidance under navigation and control uncertainties. Furthermore, 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 system. Compared 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 uncertainties. Moreover, the ILQR controller obtains high control accuracy to enhance the safe performance of the spacecraft formation reconfiguration. Finally, the effectiveness of the proposed AAPF method and the ILQR controller are verified by numerical simulations.

Keywords

collision avoidanceuncertaintiesspacecraft formation flyingspacecraft formation reconfigurationartificial potential function

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Astrodynamics
Volume 4 Issue 1,
March 2020
Pages 41-56
DOI: 10.1007/s42064-019-0049-x
Cite this article:
Wang Y, Chen X, Ran D, et al. Spacecraft formation reconfiguration with multi-obstacle avoidance under navigation and control uncertainties using adaptive artificial potential function method. Astrodynamics, 2020, 4(1): 41-56. https://doi.org/10.1007/s42064-019-0049-x

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Received: 17 January 2019
Accepted: 11 February 2019
Published: 15 June 2019
© Tsinghua University Press 2019
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