相对失控翻滚目标悬停的自适应模糊滑模控制

研究了含有系统不确定性和外部干扰的追踪器相对失控翻滚目标悬停的六自由度耦合控制问题。首先，在追踪器本体坐标系中建立了非线性的六自由度耦合的一体化动力学模型，将悬停控制问题转化为相对位置和相对姿态控制问题。再基于模糊逼近原理设计了一种自适应的模糊滑模控制器，该控制器能够有效克服系统的模型不确定性和外部干扰的影响，并能消除传统的抖振问题。由Lyapunov方法导出了模糊自适应律并证明了闭环系统的稳定性。数值仿真验证了所提的自适应模糊滑模控制器的有效性。

Adaptive fuzzy sliding mode control for body-fixed hovering over uncontrolled tumbling satellite

The six degree-of-freedom coupling control of the chaser relative to the uncontrolled tumbling satellite with system uncertainties and external disturbances is studied in this paper. Initially, a non-linear six-degree-of-freedom coupled integrated dynamics model is established in the chaser's body coordinate system, which transforms the hovering control problem into relative position and relative attitude control problems. Then, an adaptive fuzzy sliding mode controller is designed based on the principle of fuzzy approximation. The controller can effectively overcome the uncertainty of the system model and the influence of external disturbance, eliminating the traditional chattering problem. The fuzzy adaptive law is derived from the Lyapunov method and the stability of the closed-loop system is proved. Numerical simulations verify the effectiveness of the proposed adaptive fuzzy sliding mode controller.