Integral Sliding Mode-Based Control for the on-Orbit Assembly of Multiple Flexible Spacecraft
Xingyi Pan, Zhengtao Wei, Shujie Liu, Ti Chen
Abstract: This paper focuses on the nonlinear dynamics and control of a group of flexible spacecraft for the on-orbit assembly considering collision avoidance. A novel collision avoidance strategy with the spacecraft attitude motion is proposed on the basis of artificial potential field. The dynamic deformations of flexible appendages are also incorporated in the collision avoidance strategy. During the pre-assembly phase, integral sliding mode-based controllers with collision avoidance terms are designed for relative attitude motion and translational movement. A modal coordinate observer is introduced to estimate the unmeasured flexible vibrations of the flexible spacecraft. Only proportional-derivative control laws are used for the relative pose control during the assembly phase. The closed-loop system is proved to uniformly asymptotically converges to a bounded value via Lyapunov theory. Additionally, numerical simulations and experimental results are provided to verify the effectiveness of the proposed controllers for the assembly mission.
文章链接：https://link.springer.com/article/10.1007/s11071-025-11470-z
