Efficient Numerical Trends for Nonlinear Model Predictive Control of a Rigid Body Spacecraft on SE(3)

Shiva Bagherzadeh,Hossein Karimpour,Mehdi Keshmiri

2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM)（2021）

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摘要

In this paper, nonlinear model predictive control of mechanical systems evolving on Lie group SE(3) is studied. Discrete-time equations of motion referred to as LGVI are used in order to extract the necessary conditions of optimality. Then, TPBVP equations are solved using sensitivity derivatives to find Lagrange multipliers. A fast solver for NMPC is used to solve the problem. Extracting necessar...

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关键词

Space vehicles,Sensitivity,Mechatronics,Simulation,Predictive models,Mathematical models,Mechanical systems

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