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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers >Finite-time antisaturation control for spacecraft rendezvous and docking with safe constraint
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Finite-time antisaturation control for spacecraft rendezvous and docking with safe constraint

机译：具有安全约束的航天器交会对接的有限时间反饱和控制

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This thesis studies control schemes for spacecraft safe rendezvous and docking considering input saturation. Based on the spacecraft attitude and orbit coupled model, by using fast terminal sliding mode method, a finite-time antisaturation controller and an adaptive finite-time antisaturation controller are designed for the situations of known and unknown upper bound of external disturbances, respectively. In controller design, a novel continuous and differentiable collision avoidance potential function is presented to restrict motion area and guarantee the safety of the spacecrafts. Meanwhile, the saturation function and auxiliary system are introduced to deal with the input saturation. Lyapunov theory is utilized to prove that the error states of the system under the proposed controllers are finite-time convergent, and the rendezvous and docking without collision can be accomplished. The numerical simulation results indicate that the chaser can realize the rendezvous and docking with input saturation and safe constraint, which can further illustrate the effectiveness of the designed controllers.
机译：本文研究了考虑输入饱和的航天器安全交会对接控制方案。在航天器姿态与轨道耦合模型的基础上，采用快速终端滑模方法，分别设计了外部干扰上限已知和未知情况下的有限时间反饱和控制器和自适应有限时间反饱和控制器。在控制器设计中，提出了一种新颖的连续且可区分的避免碰撞潜在功能，以限制运动区域并保证航天器的安全。同时，引入饱和度函数和辅助系统来处理输入的饱和度。利用李雅普诺夫理论证明了所提出的控制器在系统中的误差状态是有限时间收敛的，可以实现无碰撞的交会对接。数值仿真结果表明，该跟踪器可以在输入饱和和安全约束的情况下实现交会对接，可以进一步说明所设计控制器的有效性。

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