入力共有型制御バリア関数に基づく浮遊プラットフォームの安全な自律ドッキング操作
Safe Autonomous Docking Maneuvers for a Floating Platform based on Input Sharing Control Barrier Functions
人工衛星の動きを模擬する平面浮遊プラットフォームが、ドッキングポートを視界に捉え続けながら安全距離を保ち、正しい姿勢で接近・ドッキングするための制御バリア関数を用いた制御手法を提案し、シミュレーションで有効性を示した。
著者: Akshit Saradagi, Avijit Banerjee, Sumeet Satpute, George Nikolakopoulos
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
In this article, we present a control strategy for the problem of safe autonomous docking for a planar floating platform (Slider) that emulates the movement of a satellite. Employing the proposed strategy, Slider approaches a docking port with the right orientation, maintaining a safe distance, while always keeping a visual lock on the docking port throughout the docking maneuver. Control barrier functions are designed to impose the safety, direction of approach and visual locking constraints. Three control inputs of the Slider are shared among three barrier functions in enforcing the constraints. It is proved that the control inputs are shared in a conflict-free manner in rendering the sets defining safety and visual locking constraints forward invariant and in establishing finite-time convergence to the visual locking mode. The conflict-free input-sharing ensures the feasibility of a quadratic program that generates minimally-invasive corrections for a nominal controller, that is designed to track the docking port, so that the barrier constraints are respected throughout the docking maneuver. The efficacy of the proposed control design approach is validated through various simulations.
