Double-rigid-body characteristic point saturation fixed time relative pose tracking control method

Abstract

The invention provides a double-rigid-body characteristic point saturation fixed time relative pose tracking control method. The method comprises the steps: establishing a pose kinetic equation of a tracker and a target device based on a Newton-Euler method; establishing a relative pose kinetic equation considering model uncertainty according to the established respective pose kinetic equations ofthe two rigid bodies and the relative pose and the relative speed between the two rigid body feature points; designing a fixed time disturbance observer according to the established relative pose kinetic equation; designing a non-linear saturation compensator according to the established fixed-time non-singular terminal sliding variable so as to solve the saturation effect of an actuator; and combining the established fixed-time disturbance observer and the nonlinear saturation compensator to obtain a model-based robust adaptive controller. The invention relates to the field of control of anautonomous moving body in a three-dimensional space and spacecrafts.

Description

technical field [0001] The invention relates to the control of an autonomous moving body in a three-dimensional space and the technical field of spacecraft, in particular to a method for tracking relative poses and attitudes between feature points of double rigid bodies saturated at fixed time based on a disturbance observer. Background technique [0002] High-precision autonomous relative pose control is an important technology for many practical engineering tasks such as space rendezvous, aerial refueling, and carrier-based aircraft landing. Due to the generally large size of spacecraft, aircraft and underwater vehicles, in the relative motion modeling and autonomous motion control design, it is necessary to consider the pose motion of its feature points, such as the docking port on the spacecraft, the landing point on the aircraft carrier, etc. Control system design for tasks such as ship points, thereby improving system modeling and control accuracy. In addition, due to...

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Problems solved by technology

However, these control methods cannot simultaneously deal with the requirement of fixed-time convergence of actuator saturation. Therefore, under the Lyapunov framework, it is difficult to propose a controller that simultaneously solves the problem of system actuator saturation and meets the requirements of fixed-time convergence of the state.

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