title: Adaptive nonlinear robust relative pose control of spacecraft autonomous rendezvous and proximity operations.
abstract: This paper studies relative pose control for a rigid spacecraft with parametric uncertainties approaching to an unknown tumbling target in disturbed space environment. State feedback controllers for relative translation and relative rotation are designed in an adaptive nonlinear robust control framework. The element-wise and norm-wise adaptive laws are utilized to compensate the parametric uncertainties of chaser and target spacecraft, respectively. External disturbances acting on two spacecraft are treated as a lumped and bounded perturbation input for system. To achieve the prescribed disturbance attenuation performance index, feedback gains of controllers are designed by solving linear matrix inequality problems so that lumped disturbance attenuation with respect to the controlled output is ensured in the L2-gain sense. Moreover, in the absence of lumped disturbance input, asymptotical convergence of relative pose are proved by using the Lyapunov method. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of couplings and uncertainties.
authors.affiliation: The Seventh Research Division Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191 P.R. China. Electronic address: liangsun@buaa.edu.cn.
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, Beijing 100191 P.R. 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 P.R. China. Electronic address: zxjiao@buaa.edu.cn.
authors.forename: Zongxia
authors.initials: Z
authors.lastname: Jiao
keywords: Adaptive control; Disturbance attenuation; Rendezvous and proximity; Robust control; Spacecraft control