Robust adaptive relative position and attitude integrated control for approaching uncontrolled tumbling spacecraft

Abstract

The six-degree-of-freedom coupling control of the relative orbit and relative attitude of a chaser approaching an uncontrolled tumbling target is studied in this paper. The chaser must reach an aimed position in the body coordinate system of the uncontrolled tumbling target spacecraft, and at the same time the attitude of the chaser should be synchronized with the attitude of the target. First, the integrated model of relative position and attitude is established based on the T–H equations and the error quaternion. Then, considering the safety of the approaching process, the nominal trajectory of the chaser is designed. Finally, a robust adaptive relative position and relative attitude controller is designed. An adaptive tuning method is used to deal with external disturbances and system uncertainties, and the upper bounds need not be known in advance. Simulation results show that the proposed method can track the aimed position of the uncontrolled tumbling target and complete the attitude synchronization, and the controller is still effective even for the target tumbling at a high angular velocity. Compared with the existing researches, the duration to complete position tracking and attitude synchronization is greatly reduced, the required maximum force and torque are smaller, and the dynamic response performance of the system is improved.

Fly-Around Control of Space Tumbling Target Under Multiple Constraints

“…In [27], the fly-around and acquisition of a runaway rolling satellite were studied, with emphasis on the collision avoidance problem when the tracker flies over the target. In [28] and [29], the attitude orbit coupling model was established based on the TH equation and the error quaternion, and an adaptive method was designed to realize uncontrolled tumbling target tracking and approximation control to overcome external interference and system uncertainty.…”

Intelligent Attitude Fault-Tolerant Control of Space Tumbling Target Fly-Around Based on RBF Neural Network

“…As a special kind of space target, the control problems of space tumbling targets, such as synchronous flying around, approaching, tracking, rendezvous, and docking, have become a hot research topic in the field of on-orbit service. For example, in [20], [21], [22], [23], and [24], considering external interference, configuration uncertainty, actuator constraints, and other practical problems, effective adaptive control, sliding mode control, and other control schemes are designed to achieve space rolling target tracking, approach, hovering position tracking, and attitude synchronization. However, these studies did not consider actuator failures and losses.…”

Space Non-cooperative Object Active Tracking with Deep Reinforcement Learning

“…It can provide more relaxed condition for follow-up tasks such as space debris capture and removal, autonomous rendezvous and docking, and orbiting observation and exploration. In general, active visual tracking is typically classified into two main categories: Position-based Visual Servoing (PBVS) [3], [11]- [13] and Image-based Visual Servoing (IBVS) [14]- [16].…”

“…patterns. Sun [12] and Liu [13] respectively presented robust adaptive PBVS controllers with sliding mode theory, assuming that the pose of non-cooperative target is accurately measured during approaching stage. In real application, it is absolutely hard to achieve this ideal precondition, which makes most of PBVS algorithms weak and vulnerable.…”