空间细胞机器人接管控制的分布式控制分配

采用接管控制技术延长航天器寿命为在轨服务提供了一种新思路，本文提出一种利用空间细胞机器人实施航天器接管控制的方案。针对空间细胞机器人实施接管控制的控制分配问题，建立了空间细胞机器人实施接管控制的动力学模型。为实现分布式控制分配，提出了一种基于CBBA算法的接管控制分配算法，利用自由市场机制实现控制分配的分布和异步计算。综合考虑了执行能力匹配、剩余能量和执行器输出限制，定义了空间细胞机器人的收益函数，空间细胞机器人通过自由拍卖和一致性协商完成控制任务的分配。通过蒙特卡罗分析，将本文算法与集中式分配算法零空间修正伪逆法相比较并进行参数影响分析，本文算法在保证分配精度的情况下，具有能量均衡等能力。

Distributed control allocation for cellular space robots in takeover control

Spacecraft takeover control provides a new idea for on-orbit service to extend the lifetime of spacecraft. In this paper, cellular space robots (CSR) are implemented in spacecraft takeover control. On the foundation of the takeover control dynamic model for CSRs, a distributed control allocation algorithm based on consensus-based bundle algorithm (CBBA) is proposed. This market-based algorithm allows the distributed and asynchronous allocation for CSRs. The profit of the CSR depends on the capability matching with the task, energy level and output limits. The consensus allocation is achieved by auction procedure and consensus procedure. As a comparison, a centralized algorithm called null-space intersection is considered. Monte Carlo simulations indicate that the algorithm proposed in this paper can achieve energy consumption balance of the CSRs while allocating the control tasks.