title: Robust adaptive relative position and attitude control for spacecraft autonomous proximity.
abstract: This paper provides new results of the dynamical modeling and controller designing for autonomous close proximity phase during rendezvous and docking in the presence of kinematic couplings and model uncertainties. A globally defined relative motion mechanical model for close proximity operations is introduced firstly. Then, in spite of the kinematic couplings and thrust misalignment between relative rotation and relative translation, robust adaptive relative position and relative attitude controllers are designed successively. Finally, stability of the overall system is proved that the relative position and relative attitude are uniformly ultimately bounded, and the size of the ultimate bound can be regulated small enough by control system parameters. Performance of the controlled overall system is demonstrated via a representative numerical example.
authors.affiliation: The Seventh Research Division, Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Xueyuan Road No. 37, Haidian District, Beijing 100191, PR China.
authors.forename: Liang
authors.initials: L
authors.lastname: Sun
authors.affiliation: The Seventh Research Division, Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Xueyuan Road No. 37, Haidian District, Beijing 100191, PR China. Electronic address: weihuo@buaa.edu.cn.
authors.forename: Wei
authors.initials: W
authors.lastname: Huo
authors.affiliation: Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, PR China.
authors.forename: Zongxia
authors.initials: Z
authors.lastname: Jiao
keywords: Adaptive control; Close proximity operations; Kinematic couplings; Robust control; Spacecraft control; Thrust misalignment