Passivity based nonlinear model predictive control (PNMPC) of multi-robot systems for space applications

Abstract

In the past 2 decades, there has been increasing interest in autonomous multi-robot systems for space use. They can assemble space structures and provide services for other space assets. The utmost significance lies in the performance, stability, and robustness of these space operations. By considering system dynamics and constraints, the Model Predictive Control (MPC) framework optimizes performance. Unlike other methods, standard MPC can offer greater robustness due to its receding horizon nature. However, current literature on MPC application to space robotics primarily focuses on linear models, which is not suitable for highly non-linear multi-robot systems. Although Nonlinear MPC (NMPC) shows promise for free-floating space manipulators, current NMPC applications are limited to unconstrained non-linear systems and do not guarantee closed-loop stability. This paper introduces a novel approach to NMPC using the concept of passivity to multi-robot systems for space applications. By utilizing a passivity-based state constraint and a terminal storage function, the proposed PNMPC scheme ensures closed-loop stability and a superior performance. Therefore, this approach offers an alternative method to the control Lyapunov function for control of non-linear multi-robot space systems and applications, as stability and passivity exhibit a close relationship. Finally, this paper demonstrates that the benefits of passivity-based concepts and NMPC can be combined into a single NMPC scheme that maintains the advantages of each, including closed-loop stability through passivity and good performance through one-line optimization in NMPC.