空间非合作自主交会逼近段的多约束相对位姿自适应协调控制

Autonomous six degrees-of-freedom relative motion coordinate control is a key technology for the autonomous rendezvous and docking missions of the space non-cooperative targets. In this project, some more complicated situations of the non-cooperative rendezvous and proximity maneuvers are considered in the high-precision coordinate control design, such as constrained relative velocities, control input saturation and finite-time state convergence. The following three aspects are studied. Firstly, considering that the center of mass and the docking ports of two spacecraft are different, a full-variable nonlinear mathematical model for the relative motion between docking ports of two spacecraft is established based on classical mechanical principles. Secondly, many high-precision and fast relative pose control approaches are developed based on the proposed advanced nonlinear control approaches to solve the problems of kinematic couplings, modeling uncertainties, input saturation, constrained relative velocities, and finite-time convergence. Thirdly, computer numerical simulations are performed based on commercial software Matlab to validate the proposed control algorithms. Main results of this project provide the basic theory and technology to relative motion control of non-cooperative spacecraft autonomous rendezvous and proximity operations.

空间非合作目标自主逼近操作的六自由度相对运动协调控制是实现航天器自主交会对接的关键技术。本项目拟开展多约束条件下两航天器对接口间相对位姿动力学建模和高精度协调控制设计研究。具体内容包括：考虑到两航天器对接口位置均不在其质心，基于力学原理建立两航天器对接口之间的相对姿轨耦合非线性数学模型；考虑相对姿轨运动耦合效应、模型不确定性、控制输入饱和、相对速度受限、有限时间状态收敛等复杂约束，提出多种非合作目标自主逼近操作的高精度相对姿轨协调控制器，并开展计算机仿真实验进行算法验证，为空间非合作目标近距离自主逼近的相对运动控制系统设计提供基础。

空间非合作目标自主逼近操作的六自由度相对运动协调控制是实现航天器自主交会对接的关键技术。本项目开展了多约束条件下两航天器对接口间相对位姿动力学建模和高精度协调控制设计研究。项目完成了两航天器对接口之间的相对姿轨耦合动力学建模与多种非合作目标自主逼近操作的高精度相对姿轨协调控制器设计等研究工作。通过理论分析和仿真验证得到了以下重要研究结果：（1）提出的一类饱和控制策略可以完成含模型不确定性的航天器受限姿态跟踪任务；（2）导出了一类航天器位姿跟踪动力学模型，清晰刻画了两航天器特征点之间的相对运动关系；（3）考虑系统模型中含有多源不确定性、输出受限、状态受限、执行器饱和、执行器故障、控制时间受限等复杂条件，提出的多种多约束控制方法可完成空间非合作目标自主逼近相对位姿高精度协调控制任务，并通过仿真实验验证了方法的有效性。本项目相关研究成果已发表学术论文8篇，参加学术会议3人次，授权国家发明专利2项，已培养硕士研究生毕业2人。

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