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<p>The removal of large debris objects in congested orbits is crucial for reducing debris generation rates. These objects experience significant disturbance torques and collisions, leading to high tumbling velocities, complicating their capture due to external appendages like antennas and solar panels. Consequently, agile high-angle maneuvers are essential for successfully capturing such targets. The non-cooperative nature of tumbling debris necessitates high accuracy and robustness in control systems, as the docking ports of the spacecraft do not align with their centers of mass, resulting in a complex kinematic coupling between their relative rotational and translational dynamics. This research emphasizes the importance of precise modeling in autonomous spacecraft operations, which influences filter design, controller tracking performance, and overall mission safety. We derive comprehensive coupled nonlinear relative pose motion equations without simplification, incorporating critical factors such as the docking port’s position relative to the center of mass, the dynamics of the chaser’s actuators, and the orientation of the target’s docking port within the chaser’s frame. This approach focuses solely on relative navigation information, enhancing interaction with uncooperative targets. To control the achieved coupled cascade structure of the motion equations, we develop a super-twisting sliding mode control strategy within a backstepping framework, ensuring high accuracy and robustness. The stability of the closed-loop system under external disturbances is validated through Lyapunov stability theory. The effectiveness of the proposed method is demonstrated through numerical simulations in two scenarios: synchronizing the chaser with a stable target in an ideal Keplerian orbit and with a tumbling target subjected to significant disturbances and high initial angular rate. Results confirm that the designed controller can achieve precise synchronization in both cases, highlighting its potential for future debris removal missions.</p>

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Comprehensive Modeling, Simulation and Control of Servicer Spacecraft: Automated Rendezvous Under Agile High-angle Maneuver

  • 期刊论文

  • 发表日期：

    2025年1月6日

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  • Ali Kasiri,
  • Farhad Fani Saberi

摘要

The removal of large debris objects in congested orbits is crucial for reducing debris generation rates. These objects experience significant disturbance torques and collisions, leading to high tumbling velocities, complicating their capture due to external appendages like antennas and solar panels. Consequently, agile high-angle maneuvers are essential for successfully capturing such targets. The non-cooperative nature of tumbling debris necessitates high accuracy and robustness in control systems, as the docking ports of the spacecraft do not align with their centers of mass, resulting in a complex kinematic coupling between their relative rotational and translational dynamics. This research emphasizes the importance of precise modeling in autonomous spacecraft operations, which influences filter design, controller tracking performance, and overall mission safety. We derive comprehensive coupled nonlinear relative pose motion equations without simplification, incorporating critical factors such as the docking port’s position relative to the center of mass, the dynamics of the chaser’s actuators, and the orientation of the target’s docking port within the chaser’s frame. This approach focuses solely on relative navigation information, enhancing interaction with uncooperative targets. To control the achieved coupled cascade structure of the motion equations, we develop a super-twisting sliding mode control strategy within a backstepping framework, ensuring high accuracy and robustness. The stability of the closed-loop system under external disturbances is validated through Lyapunov stability theory. The effectiveness of the proposed method is demonstrated through numerical simulations in two scenarios: synchronizing the chaser with a stable target in an ideal Keplerian orbit and with a tumbling target subjected to significant disturbances and high initial angular rate. Results confirm that the designed controller can achieve precise synchronization in both cases, highlighting its potential for future debris removal missions.