An adaptive finite-time control scheme is developed for noncooperative spacecraft fly-around subject to input saturation, full-state constraints, dynamic couplings, parameter uncertainties, and disturbances. Different from traditional fly-around model based on C–W equation, the derived 6-DOF spacecraft fly-around model can be suitable for noncooperative case in close proximity. By using the backstepping control technique, an integrated adaptive finite-time control law is designed, in which the tan-type barrier Lyapunov function (BLF) is incorporated to handle the full-state constraints. Meanwhile, the unknown dynamic couplings, parameter uncertainties, and disturbances are attenuated effectively by using adaptive estimation technique and the adverse effects raised from input saturation are reduced by the designed saturation compensator. Based on the constructed BLF, it is shown that the designed adaptive finite-time controller can guarantee that full-state constraints are not breached, but also can drive relative position and attitude tracking errors into the accurate convergent regions with finite-time convergence. Finally, the performance and advantage of the designed adaptive finite-time control scheme are demonstrated by numerical simulations.

中文翻译：

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具有输入饱和和状态约束的航天器飞越自适应有限时间6自由度跟踪控制

针对输入饱和、全状态约束、动态耦合、参数不确定性和扰动的非合作航天器飞行，开发了一种自适应有限时间控制方案。与传统的基于 C-W 方程的绕飞模型不同，推导出的 6 自由度航天器绕飞模型可以适用于近距离非合作情况。通过使用反步控制技术，设计了一种集成的自适应有限时间控制律，其中结合了tan型势垒Lyapunov函数（BLF）来处理全状态约束。同时，采用自适应估计技术有效衰减了未知动态耦合、参数不确定性和扰动，设计的饱和补偿器降低了输入饱和带来的不利影响。基于所构建的BLF，表明所设计的自适应有限时间控制器可以保证不破坏全状态约束，而且可以将相对位置和姿态跟踪误差驱动到具有有限时间收敛性的精确收敛区域中。最后，通过数值模拟证明了所设计的自适应有限时间控制方案的性能和优势。