In-space structural assembly using predefined performance based method

Abstract

Purpose

The purpose of this paper is to propose a pre-defined performance robust control method for pre-assembly configuration establishment of in-space assembly missions, and collision avoidance is considered during the configuration establishment process.

Design/methodology/approach

First, six-degrees-of-freedom error kinematic and dynamic models of relative translational and rotational motion between transportation systems are developed. Second, the prescribed transient-state performance bounds of tracking errors are designed. In addition, based on the backstepping, combining the pre-defined performance control method with a robust control method, a pre-defined performance robust controller is designed.

Findings

By designing prescribed transient-state performance bounds of tracking errors to guarantee that there is no overshoot, collision-avoidance can be achieved. Combining the pre-defined performance control method with a robust control method, robustness to disturbance is guaranteed.

Originality/value

This paper proposed a pre-defined performance robust control method. Simulation results demonstrate that the proposed controller can achieve a pre-assembly configuration establishment with collision avoidance in the existence of external disturbances.

Citation

Zhang, X., Zhu, W., Wu, X., Song, T., Xie, Y. and Zhao, H. (2021), "In-space structural assembly using predefined performance based method", Aircraft Engineering and Aerospace Technology, Vol. 93 No. 1, pp. 57-67. https://doi.org/10.1108/AEAT-05-2020-0079