输 入 量 化 下 航 天 器 位 姿 一 体 化 预 设 时 间 控 制

In the close-space missions such as spacecraft on-orbit repair and maintenance，it is often demanded for the spacecraft，which performs the task，to track the target spacecraft’s position and attitude simultaneously within a specific time window and limited communication bandwidth. To solve the attitude-orbit coupling control problem involved，an integrated predefined-time control strategy is proposed. Firstly，an error dynamic model of position and attitude integration for relative motion spacecraft is established in the framework of Lie group SE（3）. Then，the input quantization mechanism is introduced to reduce the communication frequency from the control system to the actuators. Subsequently，based on the derived practical predefined-time stable lemma，together with the back-stepping method，a nonsingular predefined-time pose tracking controller is designed. To improve the robust property of the system，a novel adaptive updating strategy to estimate and compensate for the system’s lump disturbance，and the quantizer parameters are exploited to reject the quantization error. This strategy could guarantee the predefined-time stability for the system，in the case of independent on the initial states，input quantization and the unknown disturbance，in addition，the upper bound of system’s convergence time is appointed by a control parameter in advance. Next，based on Lyapunov stability theory，the stability of the closed-loop system is proved. Finally，the simulation results verify the effectiveness of the proposed strategy.