A relative position and attitude coupled controller is proposed for rendezvous and docking between two docking ports located in different spacecraft. It is concerned with servicing to a tumbling non-cooperative target...A relative position and attitude coupled controller is proposed for rendezvous and docking between two docking ports located in different spacecraft. It is concerned with servicing to a tumbling non-cooperative target spacecraft in arbitrary orbit subjected to external disturbances.By considering both kinematic and dynamical coupled effects of relative rotation on relative translation, a coupled dynamic model is established to represent the relative motion of docking port on target spacecraft with respect to another on the service spacecraft. The spacecraft control is based on the second order sliding mode algorithm of super twisting（ST）. It is schemed to manipulate the relative position and attitude synchronously. A formal proof of the finite time convergence property of the closed-loop system is derived theoretically by the second method of Lyapunov. Numerical simulations with the designed ST controller are presented to validate the analytic analysis by contrast with the twisting control algorithm. Simulation results demonstrate that the proposed relative position and attitude integrated controller is characterized by high precision, strong robustness and high reliability.展开更多
In this paper,we prove a general existence theorem of Khler-Einstein metrics on complete Khler manifolds.We use the heat equation method smoothing certain positive (1,1) current in the canonical class.
基金supported by National Natural Science Foundation of China(Grant Nos.11025107,10831008 and 10901165)the Fundamental Research Funds for Central Universities(Grant No.201034000-3162643)+2 种基金High Level Talent Project in High Schools in Guangdong Province(Grant No.34000-5221001)the Fundamental Research Funds for the Central Universities(Grant No.101gpy25)China Post-doctoral Science Foundation(Grant No.201003382)
文摘We construct the canonical solitons,in terms of Cabezas-Rivas and Topping,associated with some generalized Ricci flows.
基金co-supported by the National Natural Science Foundation of China(No.61104026)
文摘A relative position and attitude coupled controller is proposed for rendezvous and docking between two docking ports located in different spacecraft. It is concerned with servicing to a tumbling non-cooperative target spacecraft in arbitrary orbit subjected to external disturbances.By considering both kinematic and dynamical coupled effects of relative rotation on relative translation, a coupled dynamic model is established to represent the relative motion of docking port on target spacecraft with respect to another on the service spacecraft. The spacecraft control is based on the second order sliding mode algorithm of super twisting（ST）. It is schemed to manipulate the relative position and attitude synchronously. A formal proof of the finite time convergence property of the closed-loop system is derived theoretically by the second method of Lyapunov. Numerical simulations with the designed ST controller are presented to validate the analytic analysis by contrast with the twisting control algorithm. Simulation results demonstrate that the proposed relative position and attitude integrated controller is characterized by high precision, strong robustness and high reliability.
基金supported by National Natural Science Foundation of China (Grant Nos.10831008,11025107)Fundamental Research Funds for Central Universities (Grant No 2010-34000-3162643)High Level Talent Project in High Schools in Gongdong Province (Grant No 34000-5221001)
文摘In this paper,we prove a general existence theorem of Khler-Einstein metrics on complete Khler manifolds.We use the heat equation method smoothing certain positive (1,1) current in the canonical class.
