Abstract:

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.