COLLISION-FREE FORMATION FLIGHT BASED ON HAMILTONIAN STRUCTURE-PRESERVING CONTROL

This paper studies the collision avoidance problem for the bounded formation obtained by the Hamiltonian structure-preserving control method, along the low-energy lunar halo transfer trajectory. Collision risk arises in close formations along the reference trajectory with given control gains. To avoid any possible collisions, an artificial potential approach is proposed to guarantee a minimum safety distance between the follower and the leader. The Hamiltonian structure of the collision-free controlled system can be preserved, and the sufficient condition to maintain the controlled stability is provided. Numerical results show that collision-free formation can be achieved by the proposed approach, and the control cost is less than 4 m/s for 1 km initial separation.