Adaptive Control on SE(3) for Spacecraft Pose Tracking With Harmonic Disturbance and Input Saturation

Abstract

This article investigates the coupled attitude and orbit tracking maneuver control problem of a spacecraft system in close space missions with model uncertainty, unknown disturbance, and input saturation. An adaptive compact control scheme with featuring of disturbance rejection and antiwindup is reported. First, the exponential coordinates on Lie group SE(3) are employed to describe the relative pose, which includes the relative position and attitude, and the tracking error system is established by introducing an instrumental error variable, which contains exponential coordinates and velocity tracking error. Then, a dynamic disturbance compensator is constructed based on the idea of internal model design to finely compensate for a class of unknown harmonic disturbances. Furthermore, a nonsingular auxiliary system is proposed to overcome input saturation, in which a time-varying parameter is introduced to improve the performance of the antiwindup auxiliary system. This parameter makes the closed-loop system possess two properties: the timeliness of saturation compensation and the asymptotic convergence of tracking errors. With the developed control law, the stability of the obtained feedback system is strictly proved by means of Lyapunov stability theory. Finally, the numerical simulation is carried out for an on-orbit servicing mission, which validates the effectiveness of the proposed integrated controller in solving the pose tracking control problem.