Artificial potential function based spacecraft proximity maneuver 6-DOF control under multiple pyramid-type constraints

This paper addresses the problem of spacecraft six degree of freedom (6-DOF) pose tracking control with collision avoidance and field of view (FOV) pyramid-type constraints during the autonomous proximity maneuver. The constraints are modeled as pyramid envelopes, which can better represent some real cases with less conservativeness comparing with commonly used cone-shaped model. A novel modeling method is proposed to describe the pyramid-type constraints in the dual-quaternion frame. Based on the specific geometric property of the pyramid constraints, a new convex artificial potential function (APF) with only one global minimum is designed, which incorporates the pose constraints into the control design procedure. Then, an integrated APF based control law is presented to simultaneously control the rotational and translational motion of the spacecraft without violating the pyramid constraints. The stability of the closed-loop system is demonstrated through the Lyapunov theory, and numerical simulation results are carried out to show the effectiveness of the proposed control law.