Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking

This study investigates the robust finite-time pose tracking control for spacecraft autonomous rendezvous and docking with parametric uncertainties and bounded external disturbances. Based on the uncertainly coupled relative pose dynamics, a fast terminal sliding mode controller is developed to achi...

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Bibliographic Details
Main Authors:	Liang Sun, Jinwei Wang, Jingjing Jiang
Format:	Default Conference proceeding
Published:	2021
Subjects:	Spacecraft
Online Access:	https://hdl.handle.net/2134/14034905.v1
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id	rr-article-14034905
record_format	Figshare
spelling	rr-article-140349052021-11-30T00:00:00Z Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking Liang Sun (92795) Jinwei Wang (299321) Jingjing Jiang (5731739) Spacecraft This study investigates the robust finite-time pose tracking control for spacecraft autonomous rendezvous and docking with parametric uncertainties and bounded external disturbances. Based on the uncertainly coupled relative pose dynamics, a fast terminal sliding mode controller is developed to achieve the finite-time convergence of the pose tracking errors. To reduce the control chattering results from the signum function in the controller, an exponential reaching law is employed to achieve the decreasing of the reaching time towards the sliding surface. The explicit tuning rules for designing parameters are derived based on the stability analysis of the closed-loop system. It is proved in Lyapunov framework that all closed-loop signals are always kept bounded and the pose tracking error converges to small neighborhood of zero in finite time. Simulation results validate the performance of the proposed robust finite-time control strategy. 2021-11-30T00:00:00Z Text Conference contribution 2134/14034905.v1 https://figshare.com/articles/conference_contribution/Finite-time_relative_pose_tracking_control_for_uncertain_spacecraft_rendezvous_and_docking/14034905 All Rights Reserved
institution	Loughborough University
collection	Figshare
topic	Spacecraft
spellingShingle	Spacecraft Liang Sun Jinwei Wang Jingjing Jiang Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking
description	This study investigates the robust finite-time pose tracking control for spacecraft autonomous rendezvous and docking with parametric uncertainties and bounded external disturbances. Based on the uncertainly coupled relative pose dynamics, a fast terminal sliding mode controller is developed to achieve the finite-time convergence of the pose tracking errors. To reduce the control chattering results from the signum function in the controller, an exponential reaching law is employed to achieve the decreasing of the reaching time towards the sliding surface. The explicit tuning rules for designing parameters are derived based on the stability analysis of the closed-loop system. It is proved in Lyapunov framework that all closed-loop signals are always kept bounded and the pose tracking error converges to small neighborhood of zero in finite time. Simulation results validate the performance of the proposed robust finite-time control strategy.
format	Default Conference proceeding
author	Liang Sun Jinwei Wang Jingjing Jiang
author_facet	Liang Sun Jinwei Wang Jingjing Jiang
author_sort	Liang Sun (92795)
title	Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking
title_short	Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking
title_full	Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking
title_fullStr	Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking
title_full_unstemmed	Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking
title_sort	finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking
publishDate	2021
url	https://hdl.handle.net/2134/14034905.v1
_version_	1797459192164909056

Finite-time relative pose tracking control for uncertain spacecraft rendezvous and docking

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