Saturated adaptive pose tracking control of spacecraft on SE(3) under attitude constraints and obstacle-avoidance constraints

Abstract

In this paper, for a translation and rotation coupled spacecraft, a saturated adaptive pose controller is proposed to achieve the desired pose configuration tracking under the attitude constraints and obstacle-avoidance constraints, input saturation, and external disturbances. First, a set of relative kinematics and dynamics of a spacecraft on SE(3) under input saturation is established. Second, cancellable potential functions are designed for the attitude constraints and the obstacle-avoidance constraints by introducing the warning range. Then, based on the uniformly asymptotically stable theory of nonlinear vanishing perturbation systems, an integrated pose controller leveraging the cancellable potential functions is proposed for the spacecraft on SE(3) to achieve the desired pose configuration tracking under multiple constraints. Finally, the effectiveness of the proposed integrated pose controller is illustrated by a numerical simulation of a spacecraft on SE(3) tracking the desired pose configuration under multiple constraints.