Full‐state prescribed performance pose tracking of space proximity operations with input saturation

Abstract

AbstractThis paper investigates the relative position tracking and attitude synchronization control for spacecraft close‐range proximity missions with input saturation and model uncertainties. A robust saturated relative motion controller is proposed for this purpose. Prescribed performance functions are designed to guarantee the transient and steady‐state response of the system and the full‐state constraints. Then, a nonlinear disturbance observer is developed to estimate the lumped disturbance that comprises the effects of parametric uncertainties and kinematic couplings. At the same time, a linear compensator system is incorporated into the controller design to deal with the control input saturation. Finally, it can be proved via the Lyapunov theory that the closed‐loop system is uniformly ultimately bounded stable. Simulation results on the spacecraft close‐range rendezvous and docking mission validate the effectiveness of the proposed control approach.