关键词: 失控目标, 控制, 期望相对位置矢量, 服务航天器

Abstract: Toinsurethesafetyofautonomousapproachinganddockingofatumblingtargetinonorbitservicingmissions,thedynamicsandcontrolforservicingspacecraftapproachingincloseproximitywasresearched.Byintroducingthedesiredrelativepositionvectorandthepositionerrorvector,whichfiguredtherelativemotionconfiguration,anovelrelativepositiondynamicmodelwasderived.Consideringtheinstallationlocationanderrorsofdockingmechanisms,thecoupledrelativepositionandattitudedynamicmodelofapproachingwasestablished.Themotionlawofthedesiredrelativepositionvectorwasdesignedundertheconstraintofapproachingpath.Basedontheintegratedcoupleddynamicmodelandconsideringunknownboundaryinterferences,theadaptivetimevaryingslidingmodecontrollawwasproposed,andthecloseloopsystemwasprovedtobesteadybyusingoftheLyapunovstabilitytheory.Simulationresultsshowthattheapproachofdesigningthedesiredrelativepositionvectorcancontroltheconfigurationchangesoftherelativemotion，andtheadaptivetimevaryingslidingmodecontrollawachievesacomparativelyhighprecision.Andthecoupledmodelandthecontrollawareeffectivewithperfectperformance.

Key words: Tumblingtarget, Control, Desiredrelativepositionvector, Servicingspacecraft