Robust proximity rendezvous and coordinated control of space robots

Abstract

This paper investigates the robust proximity rendezvous and coordinated control of space robots. A robust rendezvous controller is meticulously devised to guarantee the H∞ performance of space rendezvous mission by addressing the Hamilton–Jacobi–Isaacs inequality. Additionally, a virtual control system is formulated to guarantee that the robust control inputs adhere to saturation constraints. Furthermore, this study introduces a novel fixed-time convergence constraint function aimed at constraining coordinated tracking missions for end-effector. The proposed coordinated controller ensures the achievement of end-effector pose tracking within a predetermined fixed time, while concurrently stabilizing the base attitude and bounding the transient responses of tracking errors within user-defined ranges. Notably, all these accomplishments are demonstrated under conditions of parameter uncertainty and input disturbance. Simulation results validate the effectiveness of the proposed control scheme.