Spacecraft swarm formation reconfiguration method based on control barrier

For the collision-free formation reconfiguration control requirements of large-scale spacecraft swarms (tens to hundreds of orders of magnitude), it is necessary to solve the high-dimensional optimization problem under complex constraints in real time to generate safety control instructions, and the traditional methods have the problem of exponential explosion of computational complexity. Therefore, this paper proposes a control method based on control barrier function, which significantly reduces the online computational complexity while ensuring collision avoidance. First, on the basis of control barrier function theory, a quadratic programming problem for collision avoidance is constructed. Then, two key parts of the quadratic programming are then designed: the control barrier function and the extended class <inline-formula> <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"> <mml:mi mathvariant="script">K</mml:mi> </mml:math></inline-formula> function. Among them, the control performance is improved by designing an adaptive parameter for the extended class <inline-formula> <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"> <mml:mi mathvariant="script">K</mml:mi> </mml:math></inline-formula> function. Furthermore, in view of the optimization infeasible problem caused by the conflict between multiple safety constraints and control input constraints, the feasibility constraint is designed to ensure the feasibility of optimization. Finally, a swarm formation reconfiguration simulation scenario consisting of 12 spacecraft is established. The numerical simulation results show that the proposed safety control algorithm performs well in terms of computational efficiency. It can solve the control command in a sub-second time scale, and effectively reduce the additional fuel consumption required to achieve collision avoidance. It is suitable for the safety control problem of large-scale spacecraft swarms.