Nonlinear 6-DOF control of spacecraft docking with inter-satellite electromagnetic force |
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| Institution: | 1. Department of Physics and Earth Sciences, University of Ferrara, via G. Saragat 1, 44122 Ferrara, Italy;2. Italian National Research Council (CNR), Institute of Marine Sciences (ISMAR), Largo Fiera della Pesca, 2, 60125 Ancona, Italy;3. WWF Mediterranean, Via Po 25/c, 00198 Roma, Italy;1. College of Aerospace Science and Engineering, National University of Defence Technology, Changsha 410073, China;2. National Innovation Institute of Defense Technology, Chinese Academy of Military Science, Beijing, 10000, China;3. School of Automation, Southeast University, Nanjing, 210096, China;4. Manned Space System Research Center, Beijing, 10000, China;1. School of Astronautics, Beihang University, Beijing 100191, PR China;2. Key Laboratory of Spacecraft Design Optimization and Dynamic Simulation Technologies of Ministry of Education, Beihang University, Beijing 100191, PR China;3. University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, TX 76118, USA;4. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110004, PR China;5. Department of Electrical and Computer Engineering, University of Denver, Denver, CO 80208, USA |
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| Abstract: | Compared to traditional docking systems, spacecraft docking with inter-satellite electromagnetic mechanism has distinct advantages. However, its 6-DOF control problem has not been adequately investigated. From our knowledge, this paper attempts to study the 6-DOF control problem for the first time. Based on the far-field electromagnetic force model and Hill's model, the dynamic model of translational motion is derived; using tracking control strategy, LQR method and estimate of Extended State Observer (ESO), an optimal and robust translational controller is designed to satisfy relative position/velocity requirements of soft docking. Representing the attitude of the docking spacecraft pair by unit quaternion, the attitude dynamic and kinematic models with quaternion expression are derived; using behavior-based coordinated control approach and ESO, a decentralized attitude controller is designed to simultaneously align one spacecraft with its absolute desired attitude and with the other spacecraft of the docking pair, requiring no angular velocity measurement and exhibiting better robust capability. The feasibility and performance of this proposed 6-DOF controller are validated by theoretical deduction and simulation results. |
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