Pseudospectral-Based Rapid Trajectory Planning and Feedforward Linearization Guidance

Abstract

A trajectory-based guidance strategy is proposed for the three-dimensional terminal return task of an uncrewed space vehicle (USV). The overall guidance scheme consists of reference trajectory planning and robust trajectory tracking modules. The trajectory planning algorithm involves determining the motion of the USV to achieve a prescribed target under multiple constraints. The altitude-domain-based USV model is firstly proven to be differentially flat utilizing the dynamic pressure and position of the USV as flat outputs. The original trajectory planning problem is reformulated in a lower-dimensional flat output space. The discretization of the planning problem is then achieved using the pseudospectral method, based on which an initial guess technique is designed in order to accelerate the solving speed of the planning algorithm. Subsequently, a feedforward linearization-based trajectory tracking guidance law is designed using the differential flatness property of the altitude-domain model. Simulation results in different scenarios show that the proposed guidance strategy provides a satisfactory guidance solution.

Keywords

• trajectory planning
• differential flatness
• uncrewed space vehicle (USV)
• guidance law