Abstract This paper addresses the problem of stochastic trajectory planning for 6-DOF spacecraft close proximity in the presence of external disturbances and initial state uncertainties. Nonlinear chance constraints on collision avoidance, docking corridor, sensor field-of-view, and control magnitude are considered in the corresponding optimal control problem. Nominal trajectory along with affine feedback controller that restricts the dispersion caused by disturbances are optimized simultaneously. The nonlinear stochastic dynamics are transformed into equality constraints on the first two statistical moments of the random states by linearization and discretization, and further, the non-convex covariance update equation is relaxed to a semidefinite cone constraint. The nonlinear path chance constraints are first approximated by affine chance formations, and then are convexified by introducing auxiliary variables instead of direct linearization of the covariance matrix. Combined with the tail bound of sub-exponential random variables, the constraints on control input are replaced with conservative deterministic inequalities. The sub-optimal solution to the original problem is obtained by iteratively solving a series of semidefinite cone programs. The effectiveness of the proposed framework is verified using numerical simulations.

    Highlights The state-triggered chance constraint is used to describe multi-stage maneuver. The update equation for covariance is relaxed to semidefinite cone constraint. A strategy is given to convert nonlinear chance constraint into convex form. A theorem is given to convert chance control constraint into deterministic form.


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    Titel :

    Stochastic trajectory optimization for 6-DOF spacecraft autonomous rendezvous and docking with nonlinear chance constraints


    Beteiligte:
    Zhang, Yanquan (Autor:in) / Cheng, Min (Autor:in) / Nan, Bin (Autor:in) / Li, Shunli (Autor:in)

    Erschienen in:

    Acta Astronautica ; 208 ; 62-73


    Erscheinungsdatum :

    2023-04-02


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch