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.
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.
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.
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.
