Fuel optimal manoeuvres for multiple spacecraft formation reconfiguration using multi-agent optimization

The Air Force Research Laboratory has identified multiple spacecraft formation flying as an enabling technology for several future space missions. A key benefit of formation flying is the ability to reconfigure the spacecraft formation to achieve different mission objectives. In this paper, generation of fuel optimal manoeuvres for spacecraft formation reconfiguration is modelled and analysed as a multi-agent optimal control problem. Multi-agent optimal control is quite different from the traditional optimal control for single agent. Specifically, in addition to fuel optimization for a single agent, multi-agent optimal control necessitates consideration of task assignment among agents for terminal targets in the optimization process. In this paper, we develop an efficient hybrid optimization algorithm to address such a problem. The proposed multi-agent optimal control methodology uses calculus of variation, task assignment, and parameter optimization at different stages of the optimization process. This optimization algorithm employs a distributed computational architecture. In addition, the task assignment algorithm, which guarantees the global optimal assignment of agents, is constructed using the celebrated principle of optimality from dynamic programming. A communication protocol is developed to facilitate decentralized decision making among agents. Simulation results are included to illustrate the efficacy of the proposed multi-agent optimal control algorithm for fuel optimal spacecraft formation reconfiguration. Copyright © 2002 John Wiley & Sons, Ltd.

[1]  Fred Hadaegh,et al.  Management of Guidance, Navigation, and Control Technologies for Spacecraft Formations Under the NASA Cross Enterprise Technology Development Program (CETDP) , 1999 .

[2]  John L. Junkins,et al.  Spacecraft Formation Flying Control using Mean Orbit Elements , 2000 .

[3]  R. Bellman.  Dynamic programming. , 1957, Science.

[4]  Joseph R. Guinn,et al.  AUTONOMOUS NAVIGATION FOR THE NEW MILLENNIUM PROGRAM EARTH ORBITER 1 MISSION , 1997 .

[5]  S. Shankar Sastry,et al.  Conflict resolution for air traffic management: a study in multiagent hybrid systems , 1998, IEEE Trans. Autom. Control..

[6]  Peter J. Fleming,et al.  Genetic Algorithms in Engineering Systems , 1997 .

[7]  David E. Goldberg,et al.  Genetic Algorithms in Search Optimization and Machine Learning , 1988 .

[8]  David C. Redding,et al.  Linear-quadratic stationkeeping for the STS Orbiter , 1989 .

[9]  Charles L. Morefield.  New World Vistas: Air and Space Power for the 21st Century, Information Applications Volume, , 1996 .

[10]  Roger P. Linfield,et al.  The New Millennium Formation Flying Optical Interferometer , 1997 .

[11]  V. Kapila,et al.  Global output feedback tracking control of spacecraft formation flying with parametric uncertainty , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[12]  Raymond J. Sedwick,et al.  Exploiting orbital dynamics and micropropulsion for aperture synthesis using distributed satellite systems - Applications to TechSat21 , 1998 .

[13]  Hsi-Han Yeh,et al.  Geometry and control of satellite formations , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[14]  F. W. Kellaway,et al.  Advanced Engineering Mathematics , 1969, The Mathematical Gazette.

[15]  Donald E. Kirk,et al.  Optimal Control Theory , 1970 .

[16]  R. Vassar,et al.  Formationkeeping for a Pair of Satellites in a Circular Orbit , 1985 .

[17]  Fred Y. Hadaegh,et al.  Adaptive Control of Formation Flying Spacecraft for Interferometry , 1998 .

[18]  Kalmanje Krishnakumar,et al.  Micro-Genetic Algorithms For Stationary And Non-Stationary Function Optimization , 1990, Other Conferences.

[19]  Vikram Kapila,et al.  Spacecraft Formation Flying: Dynamics and Control , 2000 .

[20]  John Lygeros,et al.  A next generation architecture for air traffic management systems , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[21]  Lawrence. Davis,et al.  Handbook Of Genetic Algorithms , 1990 .

[22]  Lalit M. Patnaik,et al.  Adaptive probabilities of crossover and mutation in genetic algorithms , 1994, IEEE Trans. Syst. Man Cybern..

[23]  Frank H. Bauer,et al.  SATELLITE FORMATION FLYING USING AN INNOVATIVE AUTONOMOUS CONTROL SYSTEM (AUTOCON) ENVIRONMENT , 1997 .

[24]  Kirtland Afb,et al.  ADVANCED GUIDANCE, NAVIGATION, AND CONTROL FOR REMOTE SENSING , 1997 .

[25]  C. R. Peterson,et al.  Mechanics And Thermodynamics Of Propulsion , 1965 .

[26]  Guang Yang,et al.  Nonlinear dynamics and output feedback control of multiple spacecraft in elliptical orbits , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[27]  D A Pierre,et al.  Optimization Theory with Applications , 1986 .

[28]  M. Tomizuka,et al.  Control issues in automated highway systems , 1994, IEEE Control Systems.

[29]  Vikram Kapila,et al.  Adaptive Nonlinear Control of Multiple Spacecraft Formation Flying , 2000 .

[30]  D. Luenberger.  Optimization by Vector Space Methods , 1968 .

[31]  Wei Kang,et al.  Mobile robot tracking control in a perceptive frame , 1999, Other Conferences.

[32]  John H. Holland,et al.  Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence , 1992 .

[33]  S. Vadali,et al.  CONTROL OF SATELLITE FORMATIONS , 2001 .

[34]  Nicholas Weininger,et al.  Collective Management of Satellite Clusters , 1999 .

[35]  P. Wang,et al.  Coordination and control of multiple microspacecraft moving in formation , 1996 .

[36]  Guang Yang,et al.  Nonlinear dynamics, trajectory generation, and adaptive control of multiple spacecraft in periodic relative orbits , 2000 .

[37]  Jonathan P. How,et al.  Formation sensing and control technologies for a separated spacecraft interferometer , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).