Saturated Adaptive Output-Constrained Control of Cooperative Spacecraft Rendezvous and Docking

作     者：Liang Sun 

作者机构：IEEE the Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation and Electrical Engineering and also with the Institute of Artificial Intelligence University of Science and Technology Beijing 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2019年第6卷第6期

页      面：1462-1470页

核心收录：

学科分类：07[理学] 0701[理学-数学] 070101[理学-基础数学] 

基　　金：supported in part by the National Natural Science Foundation of China(61903025) the Fundamenta Research Funds for the Central Universities(FRF-GF-18-028B) the China Scholarship Council(201906465028) 

主　　题：Output-constrained control pose tracking control rendezvous and docking saturated control singularity-free control spacecraft control 

摘      要：This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints of states,so that the computational singularity of the inverse matrix in control command can be avoided,while a linear auxiliary system is introduced to handle with the adverse effect of actuator *** tuning rules for designing parameters in control command and auxiliary system are derived based on the stability analysis of the closed-loop *** is proved that all closed-loop signals always keep bounded,the prescribed constraints of relative pose tracking errors are never violated,and the pose tracking errors ultimately converge to small neighborhoods of *** experiments validate the performance of the proposed robust saturated control strategy.