Cooperative game-based multi-objective optimization of cargo transportation with floating partial space elevator

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This paper develops a dual-phase control strategy based on the piecewise cooperative game method to balance the multiple competing objectives for cargo transportation by a partial space elevator in terms of orbital state stability and cargo transport efficiency and ensure final state stability. The cargo transportation is performed in the libration-free mode to facilitate the control implementation, where all libration motions are kept at zero. The new control strategy is split into phases I and II. Phase I focuses on cargo transportation and covers most cargo transfer distances. Multiple competing control objectives in this phase are balanced by the newly proposed piecewise cooperative game method. Once the remaining distance meets the preset threshold, the transportation enters phase II, which focuses on bringing the state of the partial space elevator to a stable equilibrium state. A shrinking horizon model predictive control method is used to ensure the state converges to the equilibrium point by the end of transportation. The simulation results reveal that the newly proposed dual-phase control scheme effectively balances multiple competing control objectives in the cargo transfer period. Moreover, by introducing phase II, the system can achieve a stable equilibrium state by the end of the transfer period.