Non-cooperative autonomous rendezvous and docking using artificial potentials and sliding mode control

作者：Li, Xuehui; Zhu, Zhibin; Song, Shenmin^*

来源：Proceedings of the Institution of Mechanical Engineers - Part G: Journal of Aerospace Engineering , 2019, 233(4): 1171-1184.

DOI：10.1177/0954410017748988

• Non-cooperative autonomous rendezvous and docking
• collision avoidance
• artificial potential function
• sliding mode control
• finite-time stable

In this paper, the problem of autonomous rendezvous and docking with a non-cooperative target spacecraft is studied. A coupled translational and rotational dynamics of the spacecraft is used, where the rotation matrix is used to represent the attitude of spacecraft to overcome the drawbacks related to the unwinding. An asymptotically stable autonomous rendezvous and docking collision-free controller is proposed based on a novel designed sliding surface. Then, a new nonsingular terminal sliding surface is given, based on which the developed autonomous rendezvous and docking collision-free controller can make the tracking errors converge into a small bounded area near the origin in a finite time. Using artificial potential function and virtual obstacles model established based on cissoid, both controllers ensure the chaser spacecraft strictly remains in the safety area to avoid the collision with the target spacecraft. The effectiveness of the proposed controllers is demonstrated by numerical simulation.

• 出版日期2019-3
• 单位哈尔滨工业大学; 北京控制工程研究所