Pose-Constrained Control of Proximity Maneuvering for Tracking and Observing Noncooperative Targets with Unknown Acceleration

Abstract

This paper proposes a pose control scheme of for proximity maneuvering for tracking and observing noncooperative targets with unknown acceleration, which is an important prerequisite for on-orbit operations in space. It mainly consists of a finite-time extended state observer and constraint processing procedures. Firstly, relative pose-coupled kinematics and dynamics models with unknown integrated disturbances are established based on dual quaternion representations. Then, a finite-time extended state observer is designed using the super-twisting algorithm to estimate the integrated disturbances. Both observation field of view and collision avoidance pose-constrained models are constructed to ensure that the service spacecraft continuously and safely observes the target during proximity maneuvering. And the constraint models are further incorporated into the design of artificial potential function with a unique minimum. After that, the proportional–derivative-like pose-constrained tracking control law is proposed based on the estimated disturbances and the gradient of the artificial potential function. Finally, the effectiveness of the control scheme is verified through numerical simulations.

Keywords

• proximity maneuver
• noncooperative target tracking
• extended state observer
• disturbance suppression
• collision avoidance
• artificial potential function