服务航天器超近程逼近目标的相对姿轨耦合控制

针对服务航天器超近程逼近目标的相对姿态轨道耦合控制问题,推导了耦合动力学模型并设计了相应控制律。通过引入描述相对运动构型变化的期望相对位置矢量和位置误差矢量,将相对轨道跟踪控制问题转化为调节器的设计问题。推导了考虑对接机构安装位置的相对姿态轨道耦合动力学模型。利用李雅普诺夫稳定性理论,设计了考虑未知有界干扰的相对姿态轨道耦合控制律。考虑控制输入受限进行数学仿真,结果表明所设计的控制律是有效的,并具有较好的性能。

Coupled control of relative position and attitude for servicing spacecraft approaching the target in close proximity

Considering the relative position and attitude coupled control problem for servicing spacecraft approaching the target in close proximity, a novel coupled dynamic model is derived and an effective control law is designed. Via introducing the desired relative position vector and position error vector, which describe the relative motion configuration, the relative position tracking control is transformed to the regulator design. Considering installation location of docking mechanisms, the coupled relative position and attitude dynamic equations are derived. And considering unknown bounded interference, the coupled relative position and attitude control law is proposed by using the Lyapunov stability theory. Under the condition of bounded control inputs in numerical simulations, the results indicate that the coupled control law is effective with perfect performance.