This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints ...This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints of states,so that the computational singularity of the inverse matrix in control command can be avoided,while a linear auxiliary system is introduced to handle with the adverse effect of actuator saturation.The tuning rules for designing parameters in control command and auxiliary system are derived based on the stability analysis of the closed-loop system.It is proved that all closed-loop signals always keep bounded,the prescribed constraints of relative pose tracking errors are never violated,and the pose tracking errors ultimately converge to small neighborhoods of zero.Simulation experiments validate the performance of the proposed robust saturated control strategy.展开更多
In addressing the challenges of short-range spacecraft docking in the presence of obstacles and disturbances,it is critical to integrate guidance and motion control to ensure autonomous and reliable operation.Traditio...In addressing the challenges of short-range spacecraft docking in the presence of obstacles and disturbances,it is critical to integrate guidance and motion control to ensure autonomous and reliable operation.Traditional methods that separate these two layers often struggle with accurately tracking predefined paths,increasing the risk of collisions.In light of this,a proposed scheme integrating guidance and control in an organic manner has been put forth.This scheme employs the rapidly-exploring random trees(RRT)algorithm within the guidance layer to generate a collision-avoidance trajectory for the control layer,efficiently navigating the spacecraft towards its target.Then the control layer implements a second-order output-constrained controller by adding a power integrator and a novel barrier Lyapunov function(BLF)together,to guarantee that the tracking error of the predefined trajectory remains bounded and the system asymptotically converges to the target.To account for tracking errors,obstacle radii are expanded during path planning through a dilation constant.Based on theoretical derivation and simulation experiments,the effectiveness and advancement of the proposed method are validated.展开更多
基金supported in part by the National Natural Science Foundation of China(61903025)the Fundamenta Research Funds for the Central Universities(FRF-GF-18-028B)the China Scholarship Council(201906465028)
文摘This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints of states,so that the computational singularity of the inverse matrix in control command can be avoided,while a linear auxiliary system is introduced to handle with the adverse effect of actuator saturation.The tuning rules for designing parameters in control command and auxiliary system are derived based on the stability analysis of the closed-loop system.It is proved that all closed-loop signals always keep bounded,the prescribed constraints of relative pose tracking errors are never violated,and the pose tracking errors ultimately converge to small neighborhoods of zero.Simulation experiments validate the performance of the proposed robust saturated control strategy.
基金supported by the National Natural Science Foundation of China under Grant 62025302.
文摘In addressing the challenges of short-range spacecraft docking in the presence of obstacles and disturbances,it is critical to integrate guidance and motion control to ensure autonomous and reliable operation.Traditional methods that separate these two layers often struggle with accurately tracking predefined paths,increasing the risk of collisions.In light of this,a proposed scheme integrating guidance and control in an organic manner has been put forth.This scheme employs the rapidly-exploring random trees(RRT)algorithm within the guidance layer to generate a collision-avoidance trajectory for the control layer,efficiently navigating the spacecraft towards its target.Then the control layer implements a second-order output-constrained controller by adding a power integrator and a novel barrier Lyapunov function(BLF)together,to guarantee that the tracking error of the predefined trajectory remains bounded and the system asymptotically converges to the target.To account for tracking errors,obstacle radii are expanded during path planning through a dilation constant.Based on theoretical derivation and simulation experiments,the effectiveness and advancement of the proposed method are validated.
