Artificial Potential Field and Sliding Mode Strategies for Rendezvous Maneuver and Obstacle Avoidance

摘要

The paper presents a method for the design of computationally-efficient guidance and control algorithms for rendezvous maneuver. The guidance algorithm is based on the theory of artificial potential field (APF) and the control algorithm is based on the theory of sliding mode control (SMC). The effects of both uncertainties and external disturbances are considered. The presented obstacle avoidance strategies use a combination of APF and SMC algorithms; the proposed methodology is validated by simulations, which also consider a rendezvous maneuver case. The introduced algorithm appears to be suitable for autonomous, real-time control of complex maneuvers with a minimum on-board computational effort.