Earticle

초록

영어

An integrated coupled control strategy for a servicing spacecraft autonomously approaching and docking with a freely tumbling target is studied. To implement capturing successfully, the docking port of the servicing spacecraft should be always pointing to the docking port of target during close rendezvous and docking, which involves proximity maneuvering of coupled position and attitude simultaneously. The integrated coupled control is accomplished through a robust sliding mode control for coupled relative position and attitude tracking. In order to design the integrated coupled control law, the integrated coupled dynamics of relative position and attitude is established through relative position vector and relative attitude quaternion. Then, based on the integrated coupled dynamics, an integrated coupled control law is designed through a robust sliding mode control technique which is constructed by two sliding surfaces. The convergence of sliding surfaces and tracking error are guaranteed in presence of unknown but bounded disturbances and model uncertainties. The robustness of the proposed control law to measurement noise is also analyzed. Finally, three numerical simulation scenarios are conducted and the results validate the effectiveness and robustness of the integrated coupled control law.

목차

Abstract
 1. Introduction
 2. Problem Description
  2.1. Relative Position Dynamics
  2.2. Relative Attitude Dynamics
  2.3. Control Objective
 3. Integrated Coupled Dynamics of Relative Position and Attitude
 4. Integrated Coupled Control Law Design
  4.1. Sliding Surfaces Design
  4.2. Robust Sliding Mode Control Law
  4.3. Robustness to Measurement Noise
  4.4. Chattering and Control Constraints Problem
 5. Numerical Simulations and Results Analysis
 6. Conclusion
 References

키워드

저자

• LU Wei [ Research Centre of Satellite Technology, Harbin Institute of Technology, Harbin, China ]
• GENG Yunhai [ Research Centre of Satellite Technology, Harbin Institute of Technology, Harbin, China ]
• CHEN Xueqin [ Research Centre of Satellite Technology, Harbin Institute of Technology, Harbin, China ]
• ZHANG Fan [ Research Centre of Satellite Technology, Harbin Institute of Technology, Harbin, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605