Artificial potential field based robust adaptive control for spacecraft rendezvous and docking under motion constraint. (December 2019)

• Record Type: Journal Article
• Authors: Li, Qi; Yuan, Jianping; Zhang, Bo; Wang, Huan
• Is Part Of: ISA transactions. Volume 95(2019)
• Page Start: 173
• Page End: 184
• Publication Date: 2019-12
• Subjects: Spacecraft proximity maneuvers -- Artificial potential field -- Robust adaptive control -- Collision avoidance; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2019.05.018
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: This paper studied the robust safety control problem for spacecraft proximity maneuvers in the presence of parametric uncertainties, external disturbances, and motion constraint. First, a cardioid-based curve is utilized to describe motion constraint, and two artificial potential fields are established to describe the collision-avoidance requirement. Then, by combining artificial potential field with the backstepping methodology, a robust safety control strategy is designed for close-range proximity operations with time-varying nonconvex motion constraint. Compared with the existing works, the presented control scheme can guarantee the convergence of relative pose errors, and ensure no collision happens between the two spacecraft during the rendezvous and proximity process. Finally, simulation results are provided to illustrate the feasibility of the presented control approach. Highlights: A cardioid-based curve is employed to describe the forbidden zone around the target. A robust control strategy is developed by combining the artificial potential field method with backstepping technique. Compared with other relevant works, the presented control strategy provides real-time collision-avoidance ability.