Adaptive Finite-Time Control on SE(3) for Spacecraft Final Proximity Maneuvers with Input Quantization

Abstract

In this paper, a bounded finite-time control strategy is developed for the final proximity maneuver of spacecraft rendezvous and docking exposed to external disturbance and input quantization. To realize the integrated control for spacecraft final proximity operation, the coupling kinematics and dynamics of attitude and position are modeled by feat of Lie group $\text{SE}\left(3\right)$ . With a view to improving the convergence rate and reducing the chattering, an adaptive finite-time controller is proposed for the error tracking system with one-step theoretical proof of stability. Meanwhile, the hysteresis logarithmic quantizer is implemented to effectively reduce the frequency of data transmission and the quantization errors are reduced under the proposed controller. The algorithms outlined above are based on an integrated model expressed by $\text{SE}\left(3\right)$ and denoted by uniform motion states, which can simplify the design progress and improve control precision. Finally, simulations are provided to exhibit the effectiveness and advantages of the designed strategy.