Integrated modeling of spacecraft relative motion dynamics using dual quaternion

作     者：PENG Xuan SHI Xiaoping GONG Yupeng 

作者机构：Control and Simulation Center Harbin Institute of Technology Research Center of Satellite Technology Harbin Institute of Technology 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2018年第29卷第2期

页      面：367-377页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 070208[理学-无线电物理] 0809[工学-电子科学与技术（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 0702[理学-物理学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China(61074127 61427809) 

主　　题：relative motion dual quaternion position and attitude coupling integrated modeling 

摘      要：To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion.