Full‐state prescribed performance pose tracking of space proximity operations with input saturation

Abstract

This paper investigates the relative position tracking and attitude synchronization control for spacecraft close‐range proximity missions with input saturation and model uncertainties. A robust saturated relative motion controller is proposed for this purpose. Prescribed performance functions are designed to guarantee the transient and steady‐state response of the system and the full‐state constraints. Then, a nonlinear disturbance observer is developed to estimate the lumped disturbance that comprises the effects of parametric uncertainties and kinematic couplings. At the same time, a linear compensator system is incorporated into the controller design to deal with the control input saturation. Finally, it can be proved via the Lyapunov theory that the closed‐loop system is uniformly ultimately bounded stable. Simulation results on the spacecraft close‐range rendezvous and docking mission validate the effectiveness of the proposed control approach.

New results on finite‐time stability and H∞control for nonlinear Hamiltonian systems

“…Simultaneously, saturation is a commonly encountered nonlinear constraint phenomenon. Among various saturation phenomena, actuator saturation is a primary source of instability and performance degradation which has been widely studied in numerous works [13][14][15]. Therefore, the stability of the nonlinear system with time delay term and saturation term is also a main research direction.…”