Robust Adaptive Pose Tracking Control for Multiple Spacecraft Rendezvous with Collision Avoidance

被引：0

作者：

Jiang, Renjian ^{[1
]}

Sun, Zewen ^{[1
]}

Sun, Liang ^{[1
]}

Jiang, Jingjing ^{[2
]}

机构：

[1] Univ Sci & Technol Beijing, Minist Educ, Sch Intelligence Sci & Technol, Key Lab Intelligent Bion Unmanned Syst, Beijing 100000, Peoples R China

[2] Univ Loughborough, Dept Aeronaut & Automot Engn, Loughborough, Leics, England

来源：

2023 2ND CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, CFASTA | 2023年

基金：

中国国家自然科学基金;

关键词：

multiple spacecraft rendezvous; pose tracking; adaptive control; path constraint; collision avoidance; DOCKING; MOTION;

D O I：

10.1109/CFASTA57821.2023.10243191

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the problem of position tracking and attitude synchronization for multiple chaser spacecraft rendezvous and docking with the target spacecraft, in which model uncertainties, unknown external disturbances, path constraints, and collision avoidance are considered. The coupled six-degrees-of-freedom (6DOF) dynamic model is adopted for spacecraft relative motion. By integrating the artificial potential function (APF), a 6DOF robust adaptive controller is designed. In addition, unknown parameters are estimated with a norm-estimation-based adaptive method. The stability of the system is proved by Lyapunov theory and a simulation example is given to verify the theoretical results.

引用

页码：1016 / 1021

页数：6

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