In this brief, the nanosatellite rendezvous and docking problem is tackled. It was never attempted for small spacecraft, as critical technologies, such as six-degree-of-freedom (DoF) micropropulsion systems, have only recently become available due to advances in MEMS. The typical level of noise in nanosatellites’ sensors and actuators combined with the dynamics uncertainties, low actuation capabilities, and reliability requirements makes the use of robust control appropriate. The system is described by a linearized rotation/translation, six DoFs, and coupled dynamics, including fuel sloshing. An ${\mathcal {H}_\infty }$ controller is first designed, in which robust stability and performance are assessed using structured singular values. The controller robustness is then improved using ${{\mu }}$ -synthesis. Nonlinear Monte Carlo simulations for both controllers, including realistic sensors and actuators models, are provided allowing a thorough assessment of the complete guidance, navigation and control (GNC). The sought GNC schemes are shown to be robust to the modeled uncertainties and to satisfy the docking requirements.

中文翻译：

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$ \ mathcal {H} _ {\ infty} $ 和 $ \ mu $ -纳米卫星交会和对接的合成

在本简介中，解决了纳米卫星的会合和对接问题。小型航天器从未尝试过这种方法，因为随着MEMS的发展，诸如六自由度（DoF）微推进系统之类的关键技术才刚刚出现。纳米卫星传感器和执行器中的典型噪声水平，加上动态不确定性，低执行能力和可靠性要求，使得使用鲁棒控制成为适当。该系统由线性旋转/平移，六个自由度和耦合动力学（包括燃料晃动）描述。一个 $ {\数学{H} _ \ infty} $ 首先设计控制器，其中使用结构化的奇异值评估鲁棒的稳定性和性能。然后使用以下命令提高控制器的鲁棒性 $ {{\ mu}} $ -合成。提供了两种控制器的非线性蒙特卡洛仿真，包括逼真的传感器和执行器模型，从而可以对完整的制导，导航和控制（GNC）进行全面评估。所寻求的GNC方案被证明对建模的不确定性是鲁棒的并且满足对接要求。