|
|||||
|
|
| Optimal motion planning of an underactuated spacecraft using wavelet approximate method | |
| 作者姓名： | GE Xinsheng CHEN Liqun LIU Yanzhu |
| 作者单位： | 1. Beijing Institute of Machinery, Beijing 100085, China; 2. Department of Mechanics, Shanghai University, Shanghai 200072, China; 3. Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai 200030, China |
| 摘 要： | An optimal motion planning scheme using wavelet approximation is proposed for an underactuated spacecraft. The motion planning of an underactuated spacecraft can be formulated as an optimal control of a drift-free system. A cost functional is used to incorporate the control energy and the final state errors. The motion planning is to determine control inputs to minimize the cost functional. Using the method of wavelet, one can transform an infinite-dimensional optimal control problem to a finite-dimensional one and use Gauss-Newton algorithm to solve it for a feasible trajectory which satisfies nonholonomic constraints. The proposed scheme has been applied to a rigid spacecraft with two momentum wheels. The numerical simulation results indicate that optimal control with wavelet approximation is an effective approach to steering an underactuated spacecraft system from the initial configuration to the final configuration. |
| 关 键 词： | underactuated spacecraft motion planning optimal control nonholonomic constraint wavelet analysis. |
Optimal motion planning of an underactuated spacecraft using wavelet approximate method |
|
| GE Xinsheng,CHEN Liqun,LIU Yanzhu.Optimal motion planning of an underactuated spacecraft using wavelet approximate method[J].Progress in Natural Science,2006,16(8):868-873. | |
| Authors: | GE Xinsheng CHEN Liqun LIU Yanzhu |
| Institution: | 1. Beijing Institute of Machinery, Beijing 100085, China 2. Department of Mechanics, Shanghai University, Shanghai 200072, China 3. Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai 200030, China |
| Abstract: | An optimal motion planning scheme using wavelet approximation is proposed for an underactuated spacecraft. The motion planning of an underactuated spacecraft can be formulated as an optimal control of a drift-free system. A cost functional is used to incorporate the control energy and the final state errors. The motion planning is to determine control inputs to minimize the cost functional. Using the method of wavelet, one can transform an infinite-dimensional optimal control problem to a finite-dimensional one and use Gauss-Newton algorithm to solve it for a feasible trajectory which satisfies nonholonomic constraints. The proposed scheme has been applied to a rigid spacecraft with two momentum wheels. The numerical simulation results indicate that optimal control with wavelet approximation is an effective approach to steering an underactuated spacecraft system from the initial configuration to the final configuration. |
| Keywords: | underactuated spacecraft motion planning optimal control nonholonomic constraint wavelet analysis |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |
| 点击此处可从《自然科学进展(英文版)》浏览原始摘要信息 | |
| 点击此处可从《自然科学进展(英文版)》下载免费的PDF全文 | |