考虑输入受限的航天器安全接近姿轨耦合控制

For the problem of spacecraft safe approach with input saturation and external disturbances, by using the integral sliding mode control combined with potential function, an adaptive anti-saturation attitude and orbital coupled controller is proposed with unknown upper bound of external disturbances. In the process of controller design, a novel presented collision avoidance function is used to limit the motion area of the chaser spacecraft, which can guarantee the safety of the spacecrafts. At the same time, the auxiliary system and adaptive law are introduced to handle the input saturation and the unknown upper bound of external disturbances. Lyapunov theory is used to prove that the states of the closed-loop system under the designed controller can converge in finite time, and the chaser spacecraft under the control scheme can avoid collision with the target spacecraft in the process of realizing the spacecraft approach. Finally, simulations are conducted to further verify the effectiveness of the proposed control scheme.