Integrated planning and control for formation reconfiguration of multiple spacecrafts: A predictive behavior control approach

Abstract

This paper addresses the trajectory planning and control problem of multi-spacecraft formation reconstruction in the presence of obstacles. By expressing spacecraft dynamics relative to a leader spacecraft in the formation, an integrated planning and control approach named predictive null-space-based behavior control (PNSBC) is proposed. First, a planner using null-space-based behavior control (NSBC) is designed at an upper layer to resolve multi-task conflicts. Here, both global tasks, e.g. formation keeping, and local tasks, e.g. obstacle avoidance, are considered. Second, a tracking controller is designed at the bottom layer using decentralized model predictive control. Unlike traditional two-layer approaches that treat planning and control separately, the proposed PNSBC integrates the planning and control in two ways: 1) the planner provides reference trajectories for the controller to track; 2) the model predictive control (MPC) controller provides predicted trajectories that can be employed by the planner for future task priority predictions, which extends the capability of NSBC from one-step planning to multi-step predicting. In addition, the computational burden of the MPC controller is greatly reduced by putting the nonlinear obstacle avoidance constraints into the planner as a local task. Simulation results show that such integrated approach has better performance in terms of safety constraint guarantee, fuel consumption and travel distance when compared against traditional non-integrated approaches, or all-in-one MPC methods, while constraints and task objectives are fully satisfied.