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<p>This study focuses on the control of spacecraft performing six-degree-of-freedom (6-DOF) maneuvers, encompassing both translational and rotational dynamics, while accounting for actuator saturation constraints. A nonlinear 6-DOF dynamic model is constructed by incorporating the coupling effects between translation and rotation. To manage the limitations imposed by actuator saturation, a passivity-based control scheme is developed. The controller integrates a nonlinear compensation mechanism to address input constraints arising from hardware limitations. The proposed control framework ensures closed-loop stability and enables the system to converge to equilibrium points without requiring precise knowledge of the spacecraft’s mass and inertia, thereby improving robustness to modeling uncertainties. Numerical simulations are carried out to verify the effectiveness of the proposed approach under actuation limits.</p>

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Nonlinear Passivity-Based Control for Spacecraft 6-DOF Maneuver with Saturation Accommodation

  • 期刊论文

  • 发表日期：

    2025年9月11日

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  • Xiaoyu Lang,
  • Yan Qin

摘要

This study focuses on the control of spacecraft performing six-degree-of-freedom (6-DOF) maneuvers, encompassing both translational and rotational dynamics, while accounting for actuator saturation constraints. A nonlinear 6-DOF dynamic model is constructed by incorporating the coupling effects between translation and rotation. To manage the limitations imposed by actuator saturation, a passivity-based control scheme is developed. The controller integrates a nonlinear compensation mechanism to address input constraints arising from hardware limitations. The proposed control framework ensures closed-loop stability and enables the system to converge to equilibrium points without requiring precise knowledge of the spacecraft’s mass and inertia, thereby improving robustness to modeling uncertainties. Numerical simulations are carried out to verify the effectiveness of the proposed approach under actuation limits.