翻滚非合作目标逼近与跟踪的轨道和姿态控制

Orbit and Attitude Control for Approaching and Tracking a Tumbling Non-Cooperative Target

面向近距离逼近与捕获翻滚非合作目标的在轨服务空间清理任务需求,研究了航天器非合作式交会对接的轨道和姿态控制问题。在控制输入受限约束下,考虑存在参数不确定性和外部扰动的情况,结合滑模控制和自适应控制技术,分别进行鲁棒自适应位置和姿态控制器设计。利用自适应控制估计参数不确定性、未知干扰上界以及滑模控制反馈系数矩阵,提高了系统的鲁棒性。通过李雅普诺夫理论证明了系统在控制器作用下全局一致最终有界稳定。仿真结果验证了控制器的有效性,能够有效解决与高速旋转非合作目标的稳定相对位姿关系建立的难题。

The orbit and attitude control problem of spacecraft non-cooperative rendezvous and docking is studied for the onorbit service space cleaning task of approaching and capturing a tumbling non-cooperative target in close range.Under the constraint of control input limitation,considering the existence of parameter uncertainties and external disturbances,the ro⁃bust adaptive positioning and attitude controller are designed by combining sliding mode control and adaptive control tech⁃niques,respectively.The robustness of the system is improved by using adaptive control to estimate parameter uncertainty,unknown disturbance upper bound and sliding mode control feedback coefficient matrix.By Lyapunov theory,it is proved that the system is globally uniformly ultimately bounded stable under the controller action.The simulation results verify the effectiveness of the controllers,which can effectively solve the problem of establishing a stable relative pose relationship with the high-speed rotating non-cooperative target.