服务航天器超近程逼近失控目标的建模与控制

为在轨服务任务中实施对失控目标的安全逼近与对接，开展了服务航天器超近程逼近过程的动力学与控制研究。通过引入描述相对运动构型变化的期望相对位置矢量和位置误差矢量，推导了一种新颖的相对轨道误差动力学模型；考虑对接机构安装位置及安装误差，并结合相对姿态动力学模型，建立了逼近过程的相对姿态轨道耦合动力学模型；根据逼近路径约束条件，设计了逼近过程的期望相对位置矢量导引律；基于相对姿态轨道一体化耦合动力学模型，设计了考虑未知有界干扰的自适应时变滑模控制律并利用李雅普诺夫稳定性理论证明了闭环系统的全局稳定性。仿真结果表明，设计期望相对位置矢量导引律的方法能够实现逼近过程的相对运动构型变化控制，并且所设计的自适应时变滑模控制律具有较高的控制精度。

Modeling and Controlling for Servicing Spacecraft Approaching a Tumbling target in Close Proximity

Toinsurethesafetyofautonomousapproachinganddockingofatumblingtargetinon orbitservicingmissions,thedynamicsandcontrolforservicingspacecraftapproachingincloseproximitywasresearched.Byintroducingthedesiredrelativepositionvectorandthepositionerrorvector,whichfiguredtherelativemotionconfiguration,anovelrelativepositiondynamicmodelwasderived.Consideringtheinstallationlocationanderrorsofdockingmechanisms,thecoupledrelativepositionandattitudedynamicmodelofapproachingwasestablished.Themotionlawofthedesiredrelativepositionvectorwasdesignedundertheconstraintofapproachingpath.Basedontheintegratedcoupleddynamicmodelandconsideringunknownboundaryinterferences,theadaptivetime varyingslidingmodecontrollawwasproposed,andtheclose loopsystemwasprovedtobesteadybyusingoftheLyapunovstabilitytheory.Simulationresultsshowthattheapproachofdesigningthedesiredrelativepositionvectorcancontroltheconfigurationchangesoftherelativemotion，andtheadaptivetime varyingslidingmodecontrollawachievesacomparativelyhighprecision.Andthecoupledmodelandthecontrollawareeffectivewithperfectperformance.