| 无速度测量下的航天器安全接近位姿一体化控制 |
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| 引用本文： | 张禹琛,成国瑞,宋申民.无速度测量下的航天器安全接近位姿一体化控制[J].宇航学报,2022,43(10):1345-1360. |
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| 作者姓名： | 张禹琛 成国瑞 宋申民 |
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| 作者单位： | 哈尔滨工业大学航天学院，哈尔滨 150001 |
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| 摘 要： | 针对考虑位姿耦合的非合作航天器交会对接场景，在没有速度测量情况下为了同时解决安全约束、模型不确定性、执行器故障和输入饱和问题，提出一种基于容积卡尔曼滤波算法(CKF)的自主安全接近方法。首先基于容积卡尔曼滤波器和扩张状态观测器(ESO)分别估计目标航天器的位姿信息和相对速度信息；然后通过将一种新颖的安全包络与人工势函数(APF)结合设计自适应滑模控制器，并设计非奇异辅助系统对执行器故障和输入饱和带来的影响进行集中处理。提出的控制策略在不违反安全约束情况下，能在固定时间内实现位置接近和姿态同步。通过李雅普诺夫方法可以保证闭环系统固定时间稳定。仿真结果表明，所提控制方法具有较高的精度和良好干扰抑制能力。
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| 关 键 词： | 空间交会对接 位姿控制 非合作目标 固定时间控制 输入饱和 |
| 收稿时间： | 2022-04-30 |
Integrated Position and Attitude Control for Spacecraft Safe Approaching without Velocity Measurement |
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| ZHANG Yuchen,CHENG Guorui,SONG Shenmin.Integrated Position and Attitude Control for Spacecraft Safe Approaching without Velocity Measurement[J].Journal of Astronautics,2022,43(10):1345-1360. |
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| Authors: | ZHANG Yuchen CHENG Guorui SONG Shenmin |
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| Affiliation: | School of Astronautics, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | Aiming at the rendezvous and docking scenario for non cooperative spacecraft with position and attitude coupling, in order to solve the problems of safety constraints, model uncertainty, actuator failure and input saturation simultaneously without velocity measurement, an autonomous safe approach method based on cubature Kalman filter (CKF) is proposed. Firstly, the position and attitude information and relative velocity information of the target spacecraft are estimated based on the cubature Kalman filter and the expanded state observer (ESO). Then an adaptive sliding mode controller is designed by combining a novel safety envelope with artificial potential function (APF), and a nonsingular auxiliary system is introduced to compensate the adverse influence from input saturation and actuator faults. The proposed control strategy can achieve position approach and attitude synchronization within a fixed timeframe without violating the security constraints. The fixed time stability of the closed loop system can be proven by Lyapunov method. Simulation results show that the proposed control method has high accuracy and good interference suppression ability. |
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| Keywords: | Space rendezvous and docking Position and attitude control Non cooperative target Fixed time control Input saturation |
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