The invention discloses a space non-cooperative target optimal envelope trajectory tracking control method under multi-target constraint, and the method mainly comprises the following steps: designing an all-drive multi-finger space capture configuration with adaptive configuration adjustment and anti-escape capabilities, an effective multi-finger envelope configuration is generated by adopting a bidirectional Hausdorff distance based on finger features and target edge point features, and a multi-finger dynamic capture domain is constructed according to target motion features and joint feature lengths; performing space expected trajectory parameterization by adopting a continuous high-order Bezier curve, and planning a smooth envelope trajectory under minimum base disturbance based on multi-target constraint and a multi-modal particle collaborative learning mechanism; and designing a multi-fingered collaborative hierarchical tubular model predictive control strategy based on a disturbance observer through the multi-fingered nonlinear coupling characteristic of an inverse dynamic compensation system to realize envelope trajectory tracking control. According to the method, interference caused by shape complexity, motion uncertainty and nonlinear dynamic coupling of the target can be effectively overcome, and accurate tracking control over the space non-cooperative target trajectory is achieved.

    本发明公开了一种多目标约束下空间非合作目标最优包络轨迹跟踪控制方法,主要包括以下步骤:设计具有自适应构型调整和防逃逸能力的全驱多指空间捕获构型,采用基于手指特征和目标边缘点特征的双向Hausdorff距离生成有效多指包络构型,根据目标运动特性与关节特征长度构建多指动态捕获域;采用连续高阶贝塞尔曲线进行空间期望轨迹参数化,基于多目标约束和多模态粒子协同学习机制规划最小基座扰动下平滑包络轨迹;通过逆动力学补偿系统的多指非线性耦合特性,设计基于扰动观测器的多指协同层次管状模型预测控制策略实现包络轨迹跟踪控制。该方法能够有效克服目标形状复杂性、运动不确定性、非线性动态耦合所带来的干扰,实现空间非合作目标轨迹的精确跟踪控制。


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    Titel :

    Space non-cooperative target optimal envelope trajectory tracking control method under multi-target constraint


    Weitere Titelangaben:

    多目标约束下空间非合作目标最优包络轨迹跟踪控制方法


    Beteiligte:
    CHEN BIN (Autor:in) / XI HOUYIN (Autor:in) / TIAN JIAN (Autor:in) / CHEN TIANWEN (Autor:in) / ZHANG YIZHUANG (Autor:in) / ZHANG XIAODONG (Autor:in)

    Erscheinungsdatum :

    27.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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