Non-singular Terminal Sliding Mode Control for Fast Circumnavigate Mission Centered on Non-cooperative Spacecraft

摘要

The problem of position and attitude 6-DOF coupling stabilization in the fast circumnavigate mission centered on a non-cooperative spacecraft with model uncertainties, external disturbances is investigated in this paper. First of all, a kinematics and dynamics model of active spacecraft in the circumnavigate mission is derived based on Newton’s mechanics principle and quaternion theory. Then, the calculation method of desired quaternion is given, which can ensure continuous daylighting for active spacecraft. further, Based on the model mentioned above, an non-singular terminal sliding mode controller is proposed, which can force the tracking errors of relative quaternion and relative position coverge to zero in finite time. Finally, the effectiveness of the proposed controller is verified by numerical simulation.