Li Qi, Sun Chong, Song Shuo, Gou Qiuxiong, Niu Zhiqi
Xi'an Modern Control Technology Research Institute, Xian, 710065, PR China.
School of Astronautics, Northwestern Polytechnical University, Xian, Shaanxi 710072, PR China.
ISA Trans. 2021 May;111:35-46. doi: 10.1016/j.isatra.2020.10.064. Epub 2020 Oct 30.
In this paper, we tackled the robust quantized proximity control problem for spacecraft with uncertain system parameters, external disturbances and safety constraint. As a stepping stone, a nonconvex forbidden zone composed of a cylinder and an ellipsoid is established around the target spacecraft. Then, a novel repulsive potential function is employed to encode the collision-avoidance requirement. Furthermore, an adaptive safety controller is proposed for spacecraft rendezvous and docking by combining the artificial potential function with sliding mode methodology. Within the Lyapunov framework, rigorous stability analysis indicates that the presented controller guarantees the ultimate boundedness of all system signals, whilst providing a real-time safety trajectory for the chaser spacecraft. Finally, simulation results validates the theoretical analysis.
在本文中，我们解决了具有不确定系统参数、外部干扰和安全约束的航天器的鲁棒量化接近控制问题。作为一个垫脚石，在目标航天器周围建立了一个由圆柱体和椭球体组成的非凸禁区。然后，采用一种新颖的排斥势函数来编码避碰要求。此外，通过将人工势函数与滑模方法相结合，提出了一种用于航天器交会对接的自适应安全控制器。在李雅普诺夫框架内，严格的稳定性分析表明，所提出的控制器保证了所有系统信号的最终有界性，同时为追踪航天器提供了实时安全轨迹。最后，仿真结果验证了理论分析。
