Abstract
본 논문에서는 일반적인 타원 궤도상에서의 두 위성체간의 랑데부와 도킹을 수행하기 위한 적응 제어기법을 개발하였다. 직교좌표계를 이용해서 나타낸 두 비행체간의 상대운동방정식을 일반적인 해밀토니안 운동방정식의 형태로 변환한 후, 불확실한 시스템 파라미터를 가진 동적시스템을 위해 개발된 적응제어기법을 적용하여 제어 알고리즘을 유도하였다. 시스템 파라미터를 추정하는데 투사기법을 적용하여 파라미터 추정값의 변화에 의한 특이점을 회피할 수 있도록 하였으며, 수치해석을 통하여 추적비행체의 질량이 불확실한 경우에 대하여 제어 알고리즘의 성능을 검증하였다. An adaptive control algorithm for spacecraft rendezvous and docking in a Keplerian orbit is presented. The equations of relative motion of two spacecrafts expressed in a local-vertical-local-horizontal rectangular frame are converted to a general Hamiltonian form, then an adaptive control method developed for the uncertain Hamiltonian system is applied to the rendezvous and docking problem. A smooth projection algorithm is applied to keep the parameter estimates inside a singularity-free region, and a numerical example shows that the developed controller successfully deals with the unknown mass of the chaser spacecraft.
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