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Saturated adaptive relative motion coordination of docking ports in space close-range rendezvous

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journal contribution
posted on 17.09.2020 by Liang Sun, Jingjing Jiang
An adaptive relative pose controller for docking ports of two uncertain spacecraft in autonomous rendezvous and docking is developed. A novel relative translational and rotational model represented in the chaser body-fixed frame is derived firstly based on the classical Newton-Euler equations. Based on the proposed model, a six-degrees-of-freedom adaptive control law is presented based on norm-wise estimations for the unknown parameters of two spacecraft to decrease the online computational burden. Meanwhile, an adaptive robust control input is designed by introducing an exponential function of states to improve the response performance with respect to the traditional adaptive robust control. Moreover, a linear anti-windup compensator is employed to ensure the bounded performance of the control inputs. The explicit tuning rules for designing parameters are derived based on the stability analysis of the closed-loop system. It is proved in Lyapunov framework that all closed-loop signals are always bounded and the pose tracking error ultimately converges to a small neighborhood of zero. Simulation results validate the performance of the proposed robust adaptive control strategy.

Funding

National Natural Science Foundation of China (No. 61903025)

China Scholarship Council (No. 201906465028)

Fundamental Research Funds for the Central Universities (Nos. FRFBD-19-002A, FRF-GF-18-0028B)

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IEEE Transactions on Aerospace and Electronic Systems

Pages

1 - 1

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Version

AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher statement

Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Publication date

2020-06-22

ISSN

0018-9251

eISSN

2371-9877

Language

en

Depositor

Dr Jingjing Jiang Deposit date: 15 September 2020

Exports