一种翻滚非合作航天器抵近绕飞避障轨迹规划和跟踪控制方法

针对空间无人在轨服务任务中翻滚非合作航天器抵近、绕飞和避障问题，在目标特征部位本体坐标系，建立了轨道和姿态相对运动模型.设计了抵近和绕飞策略，以抵近轨迹的燃料和时间最优为目标函数，考虑规避障碍物情况，结合动力学和路径等约束条件进行轨迹规划，最后采用高斯伪谱法对连续最优控制问题进行离散转化，对转化后的非线性规划问题进行求解，得出最优路径.同时基于轨道和姿态协同的六自由度轨迹跟踪误差模型，设计了全状态反馈轨迹跟踪控制律，在相对运动姿态和轨道模型的基础上，对控制过程进行了闭环仿真验证，结果表明了姿轨耦合轨迹跟踪控制律的有效性和稳定性.

A Trajectory Planning and Tracking Algorithm for the Tumbling Non-Coopera-tive Spacecraft Approach,Flying-around and Obstacle Avoidance

For the problem of non cooperative spacecraft approach, flying around and obstacle avoidance in unmanned on orbit service, the relative kinematical and dynamic model of orbit and attitude in the non cooperative spacecraft feature part body coordinate are established. The trajectory planning is carried out, with the objective function of optimal time and fuel, and the constraint of dynamics and path. The continuous optimal control problem is discretized by the Gauss Pseudo spectral method. Then the optimal path is obtained by solving the transformed nonlinear programming problem. The six degree of freedom coordinated position and attitude trajectory tracking error model are established, and the trajectory tracking control law is designed. The results of the closed loop simulation show the effectiveness and stability of the control law.