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.

中文翻译：

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使用基于预定义性能的方法进行空间结构装配

目的

本文的目的是提出一种预定义的性能鲁棒控制方法，用于在空间组装任务的预装配配置建立中，并在配置建立过程中考虑避免碰撞。

设计/方法/方法

首先，建立了运输系统之间相对平移和旋转运动的六自由度运动学和动力学模型。其次，设计了跟踪误差的规定瞬态性能范围。另外，在此基础上，结合预定义的性能控制方法和鲁棒控制方法，设计了预定义的性能鲁棒控制器。

发现

通过设计跟踪误差的规定瞬态性能范围以确保没有过冲，可以避免碰撞。将预定义的性能控制方法与鲁棒控制方法相结合，可以确保对干扰的鲁棒性。

创意/价值

本文提出了一种预定义的性能鲁棒控制方法。仿真结果表明，所提出的控制器可以在存在外部干扰的情况下实现避免碰撞的预装配配置。