论文标题
被动安全和强大的多代理最佳控制，并应用于分布式空间系统
Passively-Safe and Robust Multi-Agent Optimal Control with Application to Distributed Space Systems
论文作者
论文摘要
本文提出了一种新的方法，即使在多代理系统中任何代理商突然失去控制能力的情况下，也可以确保运动安全性。这种被动的安全方法允许在偶然性之后替换轨迹上的点进行评估的约束，并具有偶然性运动方程式的集成常数的单个函数。不确定性对轨迹的影响是通过参数变化方法来补偿的。这允许在离散时间样本的数量中减少所需约束的数量一个多项式程度，并允许在多代理最佳控制问题中对被动安全性的计算有效地执行，可以使用直接方法来解决。主要应用程序是分布式空间系统，采用微型的低尺寸重量和商业货架技术，以牺牲可靠性为代价，这降低了任务财务成本。通过可重新配置的群（遮阳板）任务以及偏心轨道中的互补形成测试用例的实验结果证明了拟议方法学在实现耐断层安全保证方面的优势，以及计算效率。
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of point-evaluated constraints on the trajectory following a contingency with a single function of the integration constants of the equations of motion at contingency instants. The effects of uncertainties on the trajectory are compensated for through the method of variation of parameters. This permits a reduction in the number of required constraints by one polynomial degree in the number of discrete time samples, and allows computationally efficient enforcement of passive safety within a multi-agent optimal control problem, solvable using direct methods. The main application is distributed space systems employing miniaturized low size-weight-and-power and commercial-off-the-shelf technology, which reduce mission financial costs at the expense of reliability. Experimental results for the upcoming Virtual Super-resolution Optics with Reconfigurable Swarms (VISORS) mission, as well as complementary formation-flying test cases in eccentric orbits, demonstrate the advantages of the proposed methodology in achieving fault-tolerant safety guarantees, as well as computational efficiency.
