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Artificial potential field based robust adaptive control for spacecraft rendezvous and docking under motion

Qi Li1, Jianping Yuan1, Bo Zhang2

  • 1School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi 710072, China; National Key Laboratory of Aerospace of Flight Dynamics, Xi'an, Shaanxi 710072, China.

ISA Transactions
|June 2, 2019
PubMed
Summary

This study presents a robust safety control strategy for spacecraft proximity maneuvers, ensuring collision avoidance and accurate relative pose convergence despite uncertainties and constraints. The developed approach enhances safety during close-range operations.

Keywords:
Artificial potential fieldCollision avoidanceRobust adaptive controlSpacecraft proximity maneuvers

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Area of Science:

  • Aerospace Engineering
  • Control Systems
  • Robotics

Background:

  • Spacecraft proximity operations require precise control to ensure safety.
  • Parametric uncertainties, external disturbances, and motion constraints pose significant challenges.

Purpose of the Study:

  • To develop a robust safety control strategy for spacecraft proximity maneuvers.
  • To address challenges posed by uncertainties, disturbances, and motion constraints.

Main Methods:

  • Utilized a cardioid-based curve for motion constraint description.
  • Established artificial potential fields for collision avoidance.
  • Combined artificial potential fields with backstepping methodology for control design.

Main Results:

  • Guaranteed convergence of relative pose errors.
  • Ensured no collisions between spacecraft during rendezvous and proximity.
  • Demonstrated feasibility through simulation results.

Conclusions:

  • The presented robust safety control scheme is effective for spacecraft proximity operations.
  • The approach successfully handles uncertainties, disturbances, and complex motion constraints.
  • Ensures safe and efficient close-range spacecraft operations.