A Saturation Fixed-Time Relative Pose Tracking Control Method Between Two Rigid Body Feature Points

Abstract

The present invention provides a kind of relative pose tracking control method of saturation fixed time between feature points of two rigid bodies, comprising: establishing the pose dynamic equation of the tracker and the target based on the Newton-Euler method; Based on the relative pose and relative velocity between two rigid body feature points, a relative pose dynamic equation considering model uncertainty is established; according to the established relative pose dynamic equation, a fixed time disturbance observer is designed; according to the established A non-singular terminal sliding variable is fixed at a fixed time, and a nonlinear saturation compensator is designed to solve the actuator saturation effect; a model-based robust adaptive controller is obtained by combining the established fixed-time disturbance observer and nonlinear saturation compensator. The invention relates to the control of an autonomous moving body in three-dimensional space and the field of spacecraft.

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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