US 12,377,537 B2
Multi-arm spacecraft model predictive control method based on mixture of gaussian processes, equipment, and medium
Chengfei Yue, Shenzhen (CN); Xibin Cao, Harbin (CN); Ziran Liu, Harbin (CN); Xueqin Chen, Harbin (CN); Fan Wu, Harbin (CN); and Cheng Wei, Harbin (CN)
Assigned to Harbin Institute of Technology, Shenzhen, Shenzhen (CN)
Filed by Harbin Institute of Technology, Shenzhen, Shenzhen (CN)
Filed on May 5, 2023, as Appl. No. 18/143,795.
Claims priority of application No. 202210582234.6 (CN), filed on May 26, 2022.
Prior Publication US 2023/0381956 A1, Nov. 30, 2023
Int. Cl. B25J 9/16 (2006.01); B64G 4/00 (2006.01); G06F 17/16 (2006.01); G06F 17/18 (2006.01); G05B 13/04 (2006.01)
CPC B25J 9/163 (2013.01) [G06F 17/16 (2013.01); G06F 17/18 (2013.01); B64G 2004/005 (2013.01); G05B 13/048 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A multi-arm spacecraft model predictive control method based on a mixture of Gaussian processes, comprising:
establishing dynamic and kinematic models of a multi-arm spacecraft as a prediction model in model predictive control (MPC);
for an estimated value d of a disturbance term in the prediction model, inputting initial excitation to establish a data set, and employing the mixture of Gaussian processes for training to obtain residual dynamics of the multi-arm spacecraft as the estimated value of the disturbance term;
constructing, according to actual drive input saturation constraints, a model predictive controller to implement tracking of a desired trajectory by end-effectors poses of spacecraft manipulators and a platform pose, wherein the saturation comprises saturation of joint motors and thrust saturation of platform thrusters; and
setting the platform thrusters to be in an on-off control mode, and assigning a platform continuous control instruction generated by the MPC as start-up time of each of the thrusters to obtain a final thruster driving instruction.