AUTHOR=Sun Lichao , Huang Yanpei , Fei Haolin , Xiao Bo , Yeatman Eric M. , Montazeri Allahyar , Wang Ziwei TITLE=Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion JOURNAL=Frontiers in Robotics and AI VOLUME=10 YEAR=2023 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2023.1138115 DOI=10.3389/frobt.2023.1138115 ISSN=2296-9144 ABSTRACT=

On-orbit service spacecraft with redundant actuators need to overcome orbital and attitude coupling when performing proximity maneuvers. In addition, transient/steady-state performance is required to fulfill the user-defined requirements. To these ends, this paper introduces a fixed-time tracking regulation and actuation allocation scheme for redundantly actuated spacecraft. The coupling effect of translational and rotational motions is described by dual quaternion. Based on this, we propose a non-singular fast terminal sliding mode controller to guarantee fixed-time tracking performance in the presence of external disturbances and system uncertainties, where the settling time is only dependent on user-defined control parameters rather than initial values. The unwinding problem caused by the redundancy of dual quaternion is handled by a novel attitude error function. Moreover, optimal quadratic programming is incorporated into null space pseudo-inverse control allocation that ensures the actuation smoothness and never violates the maximum output capability of each actuator. Numerical simulations on a spacecraft platform with symmetric thruster configuration demonstrate the validity of the proposed approach.