Position Control for Closing Phase of ARD

Abstract

Adaptive sliding mode control (ASMC) is used to achieve high precision position control for the closing phase of autonomous rendezvous and docking (ARD). The nonlinear relative dynamic equation is given; the gain is adjusted according to the adaptive law. If the error is small, the chattering is reduced, the precision is improved. The stability is proved. To decouple the system, time sharing strategy is used. The simulation results show ASMC has higher precision than SMD, and is faster than SMD.