Corridor MPC for Multi-Agent Inspection of Orbiting Structures
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866929506839691264 |
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| author | Marchesini, Gregorio Roque, Pedro Dimarogonas, Dimos V. |
| author_facet | Marchesini, Gregorio Roque, Pedro Dimarogonas, Dimos V. |
| contents | In this work, we propose an extension of the previously introduced Corridor Model Predictive Control scheme for high-order and distributed systems, with an application for on-orbit inspection. To this end, we leverage high order control barrier function (HOCBF) constraints as a suitable control approach to maintain each agent in the formation within a safe corridor from its reference trajectory. The recursive feasibility of the designed MPC scheme is tested numerically, while suitable modifications of the classical HOCBF constraint definition are introduced such that safety is guaranteed both in sampled and continuous time. The designed controller is validated through computer simulation in a realistic inspection scenario of the International Space Station. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_17596 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Corridor MPC for Multi-Agent Inspection of Orbiting Structures Marchesini, Gregorio Roque, Pedro Dimarogonas, Dimos V. Systems and Control In this work, we propose an extension of the previously introduced Corridor Model Predictive Control scheme for high-order and distributed systems, with an application for on-orbit inspection. To this end, we leverage high order control barrier function (HOCBF) constraints as a suitable control approach to maintain each agent in the formation within a safe corridor from its reference trajectory. The recursive feasibility of the designed MPC scheme is tested numerically, while suitable modifications of the classical HOCBF constraint definition are introduced such that safety is guaranteed both in sampled and continuous time. The designed controller is validated through computer simulation in a realistic inspection scenario of the International Space Station. |
| title | Corridor MPC for Multi-Agent Inspection of Orbiting Structures |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2402.17596 |