Optimal Control with Lyapunov Stability Guarantees for Space Applications

摘要

This paper investigates the infinite horizon optimal control problem (OCP) for space applications characterized by nonlinear dynamics. The proposed approach divides the problem into a finite horizon OCP with a regularized terminal cost, guiding the system towards a terminal set, and an infinite horizon linear regulation phase within this set. This strategy guarantees global asymptotic stability under specific assumptions. Our method maintains the system's fully nonlinear dynamics until it reaches the terminal set, where the system dynamics is linearized. As the terminal set converges to the origin, the difference in optimal cost incurred reduces to zero, guaranteeing an efficient and stable solution. The approach is tested through simulations on three problems: spacecraft attitude control, rendezvous maneuver, and soft landing. In spacecraft attitude control, we focus on achieving precise orientation and stabilization. For rendezvous maneuvers, we address the navigation of a chaser to meet a target spacecraft. For the soft landing problem, we ensure a controlled descent and touchdown on a planetary surface. We provide numerical results confirming the effectiveness of the proposed method in managing these nonlinear dynamics problems, offering robust solutions essential for successful space missions.