Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety o...Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety of study results in last over two decades,fully incorporating control requirements and actuator characteristics of space missions.This paper presents a novel and comprehensive survey to the coupled position and attitude motions of spacecraft from the perspective of dynamics and control.To this end,a systematic analysis is firstly conducted in details to show the position and attitude mutual couplings of spacecraft.Particularly,in terms of the time discrepancy between spacecraft position and attitude motions,space missions can be categorized into two types:space proximity operation and space orbital maneuver.Based on this classification,the studies on the coupled dynamic modeling and the integrated control design for position and attitude motions of spacecraft are sequentially summarized and analyzed.On the one hand,various coupled position and dynamic formulations of spacecraft based on various mathematical tools are reviewed and compared from five aspects,including mission applicability,modeling simplicity,physical clearance,information matching and expansibility.On the other hand,the development of the integrated position and attitude control of spacecraft is analyzed for two space missions,and especially,five distinctive development trends are captured for space operation missions.Finally,insightful prospects on future development of the integrated position and attitude control technology of spacecraft are proposed,pointing out current primary technical issues and possible feasible solutions.展开更多
An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the tes...An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the test mass and outer satellite are firstly derived.To guarantee prescribed performance bounds on the transient and steady control errors of relative states,a performance constrained control law is formulated with an error transformed function.In addition,the requirements to know the system parameters and the upper bound of the external disturbance in advance have been eliminated by adaptive updating technique.A command filter is concurrently used to overcome the problem of explosion of complexity inherent in the backstepping control design.Subsequently,a novel auxiliary system is constructed to compensate the adverse effects of the actuator saturation constrains.It is proved that all signals in the closed?loop system are ultimately bounded and prescribed performance of relative position and attitude control errors are guaranteed.Finally,numerical simulation results are given to demonstrate the effectiveness of the proposed approach.展开更多
To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This pape...To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion.展开更多
Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse...Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse projection ray approach to address the relative position and attitude estimation by using feature points and monocular vision. It consists of two stages： absolute orienta- tion and depth recovery. In the first stage, Umeyama＇s algorithm is used to fit the three-dimensional （3D） model set and estimate the 3D point set while in the second stage, the depths of the observed feature points are estimated. This procedure is repeated until the result converges. Moreover, the effectiveness and convergence of the proposed algorithm are verified through theoreti- cal analysis and mathematical simulation.展开更多
The traditional algorithms for formation flying satellites treat the satellite position and attitude sepa- rately. A novel algorithm combining satellite attitude with position is proposed. The principal satellite traj...The traditional algorithms for formation flying satellites treat the satellite position and attitude sepa- rately. A novel algorithm combining satellite attitude with position is proposed. The principal satellite trajectory is obtained by dual quaternion interpolation, then the relative position and attitude of the deputy satellite are ob- tained by dual quaternion modeling on the principal satellite. Through above process, relative position and atti- tude are unified. Compared with the orbital parameter and the quaternion methods, the simulation result proves that the algorithm can unify position and attitude, and satisfy the precision requirement of formation flying satel- lites.展开更多
基金supported by the National Science Foundation of China(61703437,52232014,61690210,61690212)。
文摘Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety of study results in last over two decades,fully incorporating control requirements and actuator characteristics of space missions.This paper presents a novel and comprehensive survey to the coupled position and attitude motions of spacecraft from the perspective of dynamics and control.To this end,a systematic analysis is firstly conducted in details to show the position and attitude mutual couplings of spacecraft.Particularly,in terms of the time discrepancy between spacecraft position and attitude motions,space missions can be categorized into two types:space proximity operation and space orbital maneuver.Based on this classification,the studies on the coupled dynamic modeling and the integrated control design for position and attitude motions of spacecraft are sequentially summarized and analyzed.On the one hand,various coupled position and dynamic formulations of spacecraft based on various mathematical tools are reviewed and compared from five aspects,including mission applicability,modeling simplicity,physical clearance,information matching and expansibility.On the other hand,the development of the integrated position and attitude control of spacecraft is analyzed for two space missions,and especially,five distinctive development trends are captured for space operation missions.Finally,insightful prospects on future development of the integrated position and attitude control technology of spacecraft are proposed,pointing out current primary technical issues and possible feasible solutions.
文摘An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the test mass and outer satellite are firstly derived.To guarantee prescribed performance bounds on the transient and steady control errors of relative states,a performance constrained control law is formulated with an error transformed function.In addition,the requirements to know the system parameters and the upper bound of the external disturbance in advance have been eliminated by adaptive updating technique.A command filter is concurrently used to overcome the problem of explosion of complexity inherent in the backstepping control design.Subsequently,a novel auxiliary system is constructed to compensate the adverse effects of the actuator saturation constrains.It is proved that all signals in the closed?loop system are ultimately bounded and prescribed performance of relative position and attitude control errors are guaranteed.Finally,numerical simulation results are given to demonstrate the effectiveness of the proposed approach.
基金supported by the National Natural Science Foundation of China(6107412761427809)
文摘To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion.
基金Program for Changjiang Scholars and Innovative Research Team in University (IRT0520)Ph.D.Programs Foundation of Ministry of Education of China (20070213055)
文摘Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse projection ray approach to address the relative position and attitude estimation by using feature points and monocular vision. It consists of two stages： absolute orienta- tion and depth recovery. In the first stage, Umeyama＇s algorithm is used to fit the three-dimensional （3D） model set and estimate the 3D point set while in the second stage, the depths of the observed feature points are estimated. This procedure is repeated until the result converges. Moreover, the effectiveness and convergence of the proposed algorithm are verified through theoreti- cal analysis and mathematical simulation.
基金Supported by the National Natural Science Foundation of China(60974107)the Research Foundation of Nanjing University of Aeronautics and Astronautics(2010219)~~
文摘The traditional algorithms for formation flying satellites treat the satellite position and attitude sepa- rately. A novel algorithm combining satellite attitude with position is proposed. The principal satellite trajectory is obtained by dual quaternion interpolation, then the relative position and attitude of the deputy satellite are ob- tained by dual quaternion modeling on the principal satellite. Through above process, relative position and atti- tude are unified. Compared with the orbital parameter and the quaternion methods, the simulation result proves that the algorithm can unify position and attitude, and satisfy the precision requirement of formation flying satel- lites.
