Comparison of the robust function and auxiliary functions for subtask ϕA,1 (IMAGE)
Caption
a, Results based on the previous algorithm using an exponential auxiliary function. The concave shape of the exponential function fails to match the initial convex trend of the actual robust function under input saturation, potentially leading to constraint violation and optimization infeasibility.
b, Results based on the proposed algorithm using a cubic power auxiliary function. The trend of the cubic function aligns well with the practical behavior of the robust function, which initially increases slowly due to thruster saturation, then grows faster, and finally slows down as it approaches the target.
This key modification ensures the condition (x)≥γ(k) is more readily maintained, significantly enhancing the feasibility and robustness of the Model Predictive Control optimization.
Credit
Zeyang Zhao · Jian Zhang · Yi Zhang · Qiang Shen.
Usage Restrictions
Credit must be given to the creator. Only noncommercial uses of the work are permitted. No derivatives or adaptations of the work are permitted.
License
CC BY-NC-ND