Trajectory optimization and tracking control of free-flying space robots for capturing non-cooperative tumbling objects

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Trajectory optimization and tracking control of free-flying space robots for capturing non-cooperative tumbling objects

Zhang, Ouyang / Yao, Weiran / Du, Desong / Wu, Chengwei / Liu, Jianxing / Wu, Ligang / Sun, Yu

Abstract This paper investigates the problem of capturing non-cooperative tumbling objects by free-flying space robots. To solve the two challenges of task constraints and base-manipulator coupling, a pseudospectral method based trajectory optimization and a reinforcement learning based tracking control are proposed for the free-flying space robots. Multiple constrains, including dynamics, field of view and obstacle avoidance, are considered in trajectory optimization. The adaptive segmented Radau pseudospectral method is used to discretize the energy-optimal trajectory problem into a nonlinear programming problem. By adaptively dividing the global time interval into multiple subintervals, higher-order interpolation polynomials are avoided. A reinforcement learning based parameter tuning method is proposed for the base controller to suppress the reaction torque caused by the manipulator. Numerical simulations and experiments on air-bearing testbed verify the effectiveness of our methods in terms of planning efficiency and tracking precision.

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Title :

Trajectory optimization and tracking control of free-flying space robots for capturing non-cooperative tumbling objects

Contributors:

Zhang, Ouyang (author) / Yao, Weiran (author) / Du, Desong (author) / Wu, Chengwei (author) / Liu, Jianxing (author) / Wu, Ligang (author) / Sun, Yu (author)

Published in:

Aerospace Science and Technology ; 143

Publication date :

2023-11-01

ISSN :

1270-9638

DOI :

https://doi.org/10.1016/j.ast.2023.108718

Type of media :

Article (Journal)

Type of material :

Electronic Resource