In order to realize the hovering and the attitude
directing to characteristic point on disabled satellite at the same time, the
relative dynamics and control between the characteristic point and the chaser
were researched. The coupled position and attitude dynamic model was built
under the chaser’s body frame. Combined with the kinematics of characteristic
point, specific point, the expected position and attitude of the chaser were
derived. considering the chaser’s mass, moment of inertia uncertainty, system’s
disturbing force and disturbing moment uncertainty, and the moment of inertia
uncertainty of the disabled satellite, an adaptive control law was designed,
and the closed-loop system was proved to be stable through Lyapunov method. If there
were constraints for the output, the process for adjusting the control
parameters was designed and the output values were limited. The numerical simulation
shows that the system can complete the tracking mission with position error1cm
and attitude error 0.01° under the designed control law With the increasing of uncertain
parameter’s deviations, the position error is raised to 7cm while the attitude
error is raised to 0.1°. To adjust the control parameter and limit the output’s value, the control
force and control moment can be restrained in the expected range while the tracking
accuracy does not change, and the control required impulse can be reduced 9%
while the required impulse moment can be reduced 30%.
