A collision-free formation control strategy for flying in formation is presented. A linear control law is developed by means of Model Predictive Control (MPC) via the dual-mode paradigm [1]. Collision avoidance is dealt with by using Artificial Potential Functions (APFs) to keep a desired safe distance from the obstacles. The main innovation in the proposed approach is that each spacecraft independently performs the collision avoidance manoeuvres and, as a consequence, the APFs-based collision avoidance control is in charge also of the collision avoidance between two spacecraft. The optimality of the solution is discussed and numerical simulations show the effectiveness of the proposed method.
Model Predictive Control for Collision-free Spacecraft Formation with Artificial Potential Functions / Menegatti, Danilo; Giuseppi, Alessandro; Pietrabissa, Antonio. - (2022), pp. 564-570. (Intervento presentato al convegno 30th Mediterranean Conference on Control and Automation (MED) tenutosi a Athens; Greece) [10.1109/MED54222.2022.9837252].
Model Predictive Control for Collision-free Spacecraft Formation with Artificial Potential Functions
Danilo Menegatti;Alessandro Giuseppi
;Antonio Pietrabissa
2022
Abstract
A collision-free formation control strategy for flying in formation is presented. A linear control law is developed by means of Model Predictive Control (MPC) via the dual-mode paradigm [1]. Collision avoidance is dealt with by using Artificial Potential Functions (APFs) to keep a desired safe distance from the obstacles. The main innovation in the proposed approach is that each spacecraft independently performs the collision avoidance manoeuvres and, as a consequence, the APFs-based collision avoidance control is in charge also of the collision avoidance between two spacecraft. The optimality of the solution is discussed and numerical simulations show the effectiveness of the proposed method.File | Dimensione | Formato | |
---|---|---|---|
Menegatti_Model_2022.pdf
solo gestori archivio
Tipologia:
Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza:
Tutti i diritti riservati (All rights reserved)
Dimensione
1.83 MB
Formato
Adobe PDF
|
1.83 MB | Adobe PDF | Contatta l'autore |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.