Dual-quaternion-based modeling and control for motion tracking of a tumbling target  

作　　者：PENG Xuan SHI Xiaoping GONG Yupeng 

机构地区：[1]Control and Simulation Center,Harbin Institute of Technology,Harbin 150001,China [2]Research Center of Satellite Technology,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Journal of Systems Engineering and Electronics》2019年第5期985-994,共10页系统工程与电子技术（英文版）

基　　金：supported by the National Science Foundation of China(61427809)

摘　　要：This paper investigates the problem of controlling a chasing spacecraft(chaser)to track and rendezvous with an uncontrolled target.Based on the actual situation,the torque-free motion of an axisymmetric prolate rigid body is employed to represent the short-term attitude motion of the tumbling target.By taking advantage of the dual quaternion’s compact and efficient description of the general rigid motion,the coupled and integrated model of the 6-degree-of-freedom(6-DOF)relative motion between the chaser and the tumbling target is derived in the chaser’s body fixed frame after taking full consideration of coordinate transformation.Based on the logarithm of dual quaternion,a sliding mode control(SMC)law based on the exponential reaching law and the continuous relay function is brought forward to address the problem of synchronization control of the 6-DOF relative motion.Simulation results illustrate the effectiveness of the proposed method.This paper investigates the problem of controlling a chasing spacecraft(chaser) to track and rendezvous with an uncontrolled target. Based on the actual situation, the torque-free motion of an axisymmetric prolate rigid body is employed to represent the short-term attitude motion of the tumbling target. By taking advantage of the dual quaternion’s compact and efficient description of the general rigid motion, the coupled and integrated model of the 6-degree-of-freedom(6-DOF) relative motion between the chaser and the tumbling target is derived in the chaser’s body fixed frame after taking full consideration of coordinate transformation.Based on the logarithm of dual quaternion, a sliding mode control(SMC) law based on the exponential reaching law and the continuous relay function is brought forward to address the problem of synchronization control of the 6-DOF relative motion. Simulation results illustrate the effectiveness of the proposed method.

关 键 词：TUMBLING TARGET dual-quaternion coupled dynamics RELATIVE motion 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]