Adaptive Fixed-Time Terminal Sliding Mode Control on SE(3)‎ for Coupled Spacecraft Tracking Maneuver

Abstract EN

In this paper, a reaching law-based adaptive fixed-time terminal sliding mode control law, which is used for coupled spacecraft tracking maneuver in the presence of large inertia parametric uncertainties and external disturbances, is proposed.

The coupled 6-DOF kinematics and dynamics for spacecraft motion are modeled on Lie group SE(3).

The relative configuration is expressed by a local coordinate (exponential coordinate) of SE(3).

In order to estimate the inertia parameters and external disturbances, we also propose a novel adaptive update law, which can make the control law be applied without the inertia parameters of the spacecraft a priori.

Fixed-time convergence property of the closed-loop feedback system is proved in the framework of Lyapunov.

Numerical simulations are performed to demonstrate the performances of the proposed control scheme for coupled spacecraft tracking maneuver.