Researches on inverse simulation’s applications in teleoperation rendezvous and docking based on hyper-ellipsoidal restricted model predictive control for inverse simulation structure

Abstract

The inverse simulation is a technique used to calculate the control action based on the expected trajectory or experimental data and has been applied successfully in the aviation field. A novel inverse simulation technique is first introduced in the fields of rendezvous and docking. The least square estimation under the hyper-ellipsoidal restriction is presented to solve inverse simulation problems. The inverse simulation structure used in this paper is based on the model predictive control scheme. The predictive model is derived by Clohessy–Wiltshire dynamics equations, and the accurate one is obtained by two-body dynamics equations. When the designed trajectories or the data obtained by teleoperation console experiments are given to the predictive model, the inverse strategy is transformed into a generalized shrunken estimation problem. Then, the continuous control signals produced by the least square theory are dispersed by the pulse width modulation method and propagated into the high-order model. The inverse simulation results of the traditional control method and the inverse strategy mentioned in this paper show that the maneuvers can be better reproduced by inverse strategy, and the proper choices of sensitive factors and the receding horizon lead to better results.