Adaptive Pose Control for Spacecraft Proximity Operations With Prescribed Performance Under Spatial Motion Constraints

In this article, a novel pose (i.e., concurrent position-attitude) tracking control framework is proposed for spacecraft proximity operations with a freely tumbling target, employing the prescribed performance control (PPC) methodology. Especially, the whole operations involved are divided into two...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2021-07, Vol.29 (4), p.1405-1419
Main Authors: Shao, Xiaodong, Hu, Qinglei, Shi, Yang
Format: Article
Language:English
Subjects:
Adaptive control
Algorithms
Angular velocity
Attitude control
Attitudes
Boresights
Control design
Control systems design
Controllers
Maneuvers
motion constraints
pose control
prescribed performance
Proximity
Space vehicles
Spacecraft
spacecraft proximity operations
Target tracking
Tracking control
Tracking errors
Tumbling
Uncertain systems
Velocity errors
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Summary:In this article, a novel pose (i.e., concurrent position-attitude) tracking control framework is proposed for spacecraft proximity operations with a freely tumbling target, employing the prescribed performance control (PPC) methodology. Especially, the whole operations involved are divided into two synchronously occurring maneuvers: relative position tracking and boresight pointing adjustment. For the former, a new relative translational dynamics is established to facilitate its problem formulation and solving, while, for the latter, the desired attitude is extracted to align the boresight of the pursuer's onboard vision sensor toward the target. Given this, a noncertainty-equivalence adaptive pose controller is designed based on the PPC design approach integrating a class of appointed-time performance functions. It is shown that the designed controller is able to achieve prescribed performance guarantees for the pose tracking errors and, meanwhile, guarantee asymptotic convergence of both the velocity and angular velocity errors, regardless of mass and inertia uncertainties. The salient feature of the proposed method is that, by judiciously imposing the performance specifications on the pose tracking errors, it can: 1) enable the pursuer to accomplish the proximity operations in a designer-appointed time and 2) ensure compliance with spatial motion constraints and avoid singularity of the attitude extraction algorithm. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2020.3005966