Magnetic capture volume derivation and multi-magnetic dipoles configuration design for spacecraft soft-docking

Zhang, Yuanwen; Lee, Yang; Zhu, Yanbo; Qi, Dawei; Li, Yipeng

doi:10.1016/j.asr.2018.12.034

Cited by 2 publications

(1 citation statement)

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“…It should be mentioned that the soft docking problem was not involved in [26], as no tracking trajectories were predefined during electromagnetic docking. Zhang et al investigated a soft-docking controller in [27] with effective and satisfactory results, but the convergence time of system states is asymptotic, but not finite. Sliding mode control (SMC) is well known for its total insensitivity to both model uncertainties and external disturbances when the system states move on the sliding manifolds, which is the inherent strong robustness [28,29].…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking

Zhang

Zeng

Zhang

2020

International Journal of Aerospace Engineering

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This paper presents a novel nonlinear sliding mode control scheme that combines on-line model modification, a nonlinear sliding mode controller, and a disturbance observer to solve the essential problems in spacecraft electromagnetic docking control, such as model uncertainties, unknown external disturbances, and inherent strong nonlinearity and coupling. An improved far-field model of electromagnetic force which is much more accurate than the widely used far-field model is proposed to enable the model parameters to be on-line self-adjusting. Then, the relationship between magnetic moment allocation and energy consumption is derived, and the optimal direction of the magnetic moment vector is obtained. Based on the proposed improved far-field model and the research results of magnetic moment allocation law, a fast-nonsingular terminal mode controller driven by a disturbance observer is designed in the presence of model uncertainties and external disturbances. The proposed control method is guaranteed to be chattering-free and to possess superior properties such as finite-time convergence, high-precision tracking, and strong robustness. Two simulation scenarios are conducted to illustrate the necessity of modifying the far-field model and the effectiveness of the proposed control scheme. The simulation results indicate the realization of electromagnetic soft docking and validate the merits of the proposed control scheme. In the end of this paper, some conclusions are drawn.

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Section: Introductionmentioning

confidence: 99%