Neural network-based reinforcement learning control for combined spacecraft attitude tracking maneuvers

Abstract

This paper proposes a novel reinforcement learning-based attitude tracking control strategy for combined spacecraft takeover maneuvers with completely unknown dynamics. One major issue in the context of combined spacecraft attitude takeover control is that the accurate dynamic model is highly nonlinear, complex and costly to identify online, which makes it impractical for control design. To address this issue, we take the advantage of the Q-learning algorithm to acquire the control strategy directly from system input/output measurement data in a model-free manner, and thus the online inertia parameter identification procedure is avoided. More specifically, first, the attitude tracking is formulated as a regulation problem by introducing an argumented system, where the system dynamic model is still required in control design. Then, in order to achieve a model-free control strategy, an online policy-iteration (PI) Q-learning procedure is derived to solve the Bellman optimality equation by utilizing the generated measurement data. In theoretical analysis, it is proved that the iteration sequences of Q value function and control strategy can converge to the optimal ones. In addition, rigorous proof of the stability and monotonicity guarantees of the proposed control strategy are also provided. Furthermore, for the purpose of online implementation, off-policy learning scheme is employed to find the optimal Q value function approximator with neural network structure after data-collection phase. Numerical simulations are exhibited to validate the effectiveness of the proposed strategy.