与自由翻滚目标近距离段交会对接的相对姿轨耦合控制

Relative Position and Attitude Coupled Controller Design for Approaching and Docking with a Freely Tumbling Target

针对与自由翻滚航天器交会对接近距离段的姿轨强耦合控制问题,基于滑模自适应控制方法设计了一类六自由度姿轨一体化控制器,且显式地引入执行机构的饱和幅值,以确保控制输出在其要求界的范围内;考虑到追踪航天器姿轨运动中存在外干扰、参数不确定性、强耦合非线性等工程实际问题,设计控制器参数使得闭环系统对这类干扰具有L2增益稳定,并基于Lyapunuov方法证明了闭环系统的稳定性与系统性能。最后仿真说明在与自由翻滚航天器进行交会对接时,本文设计的控制器可以对追踪航天器相对位置和姿态同时进行快速、高精度的控制,且具有良好的性能。

Relative position and attitude coupled control algorithm combined with sliding mode and adaptive control techniques is developed for an approaching and docking autonomously system, in which the unexpected disturbances and configuration uncertainties are considered explicitly. It is noted that the proposed controller can rigorously enforces actuator- magnitude saturation constraints and make the closed-loop system attenuate the disturbance with L2 gain. The associated stability proof is constructive and accomplished by the development of a novel Lyapunov function candidate. Numerical results show that this method achieves good tracking performance under the multi-constraints mentioned above.