Integrated robust adaptive tracking control of non-cooperative fly-around mission subject to input saturation and full state constraints

Abstract

This paper investigates the relative position and attitude tracking control of non-cooperative fly-around mission in the presence of parameter uncertainties, external disturbances, input saturation and full state constraints. Firstly, an integrated and coupled 6 DOF relative motion dynamic model is established, which is consisted of relative position model depicted in the line-of-sight (LOS) frame and relative attitude model described by Modified Rodriguez parameters (MRPs). Subsequently, by using the backstepping control method, an integrated robust adaptive anti-windup control scheme is proposed, in which uncertain parameters and unknown upper bound of the disturbances are estimated by adaptive technique, and the adverse effects caused by input saturation are reduced by the designed anti-windup compensator. To guarantee the full state constraints satisfied all the time, the barrier Lyapunov function method is incorporated into the backstepping control design. Rigorous stability proofs show that the designed robust adaptive controller guarantees that the relative motion states not only can be restricted in the prescribed constraint regions, but also can converge into the small regions with good robustness. Finally, numerical simulation results demonstrate the effectiveness and performance of the designed control scheme.