TY - JOUR A2 - Zhang, Xuping AU - Liu, Jianghui AU - Li, Haiyang AU - Zhang, YaKun AU - Zhou, Jianyong AU - Lu, Lin AU - Li, Fuqi PY - 2019 DA - 2019/12/28 TI - Robust Adaptive Relative Position and Attitude Control for Noncooperative Spacecraft Hovering under Coupled Uncertain Dynamics SP - 8678473 VL - 2019 AB - The control of body-fixed hovering over noncooperative target, as one of the key problems of relative motion control between spacecrafts, is studied in the paper. The position of the chaser in the noncooperative target’s body coordinate system is required to remain unchanged, and the attitude of the chaser and the target must be synchronized at the same time. Initially, a six-degrees-of-freedom-coupled dynamic model of a chaser relative to a target is established, and relative attitude dynamics is described through using modified Rodrigues parameters (MRP). Considering the model uncertainty and external disturbances of the noncooperative target system, an adaptive nonsingular terminal sliding mode (NTSM) controller is designed. Adaptive tuning method is used to overcome the effects of the model uncertainty and external disturbances. The upper bounds of the model uncertainty and external disturbances are not required to be known in advance. The actual control law is continuous and chatter-free, which is obtained by integrating the discontinuous derivative control signal. Finally, these theoretical results are verified by numerical simulation. SN - 1024-123X UR - https://doi.org/10.1155/2019/8678473 DO - 10.1155/2019/8678473 JF - Mathematical Problems in Engineering PB - Hindawi KW - ER -