Adaptive Reduced-Attitude Control for Spacecraft Boresight Alignment with Safety Constraints and Accuracy Requirements
arXiv (Cornell University)(2023)
摘要
This paper investigates the boresight alignment control problem under safety
constraints and performance requirements, involving pointing-forbidden
constraint, attitude angular velocity limitation, and pointing accuracy
requirement. Meanwhile, the parameter uncertainty issue is taken into account
simultaneously. To address this problem, we propose a modified composite
framework integrating the Artificial Potential Field (APF) methodology and the
Prescribed Performance Control (PPC) scheme. The APF scheme ensures safety,
while the PPC scheme is employed to realize an accuracy-guaranteed control. A
Switched Prescribed Performance Function (SPPF) is proposed to facilitate the
integration, which monitors various constraints and further establishes
compatibility between safety and performance concerns by leveraging a special
PPC freezing mechanism. To further address the parameter uncertainty, we
introduce the Immersion-and-Invariance (I&I) adaptive control technique to
derive an adaptive APF-PPC composite controller, further guaranteeing the
closed-loop system's asymptotic convergence. Finally, numerical simulations are
carried out to validate the effectiveness of the proposed scheme.
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关键词
spacecraft boresight alignment
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