欠驱动刚性航天器时间最优轨迹规划设计

Time-optimal motion planning of an underactuated rigid spacecraft

应用伪谱法解决欠驱动刚性航天器的时间最优轨迹规划问题.首先建立欠驱动刚性航天器的动力学和运动学模型,对于给定的初末姿态,选取机动时间最短为待优化的性能指标,并考虑到实际控制输入受限,将其转化为优化过程中的不等式约束条件;然后应用Legendre伪谱法,将优化问题离散化为非线性规划问题进行求解.仿真结果表明,应用伪谱法规划得到的欠驱动航天器最优轨迹,能够较好地满足各种约束条件,而且计算精度高、速度快,具有良好的实时性.

The optimal motion planning of an underactuated rigid spacecraft using pseudospectral method is discussed.Firstly,the dynamic and kinematic equations of the spacecraft are derived,and for given initial and final attitudes,the performance to be optimized is selected as minimizing the rest-to-rest maneuver time.Moreover,the bounded control inputs are transformed to inequality constraints.Then,the optimal motion planning problem can be converted into a nonlinear programming problem by using Legendre pseudospectral method.The analytical and simulation results show that the proposed algorithm satisfies the constraints well and can be used on-line with its small computational amount and low computational complexity.