Spacecraft Rendezvous and Docking Using the Explicit Reference Governor Approach
研究了存在空间障碍、路径和推力约束下的航天器自主交会对接问题，提出基于显式参考调节器的制导与控制组合方案，通过人工势函数引导无碰撞轨迹并利用安全不变集满足约束，仿真验证了方法的有效性。
This article investigates the autonomous spacecraft rendezvous and docking problem in the presence of space obstacle, path constraints, and thrust limitation constraint. By introducing the frame of explicit reference governor (ERG), a combination scheme of guidance and control is proposed to guarantee the system stabilization and constraints satisfaction. Specifically, an artificial potential function (APF) method is employed to guide a collision-free trajectory, and then the constraints are satisfied via limiting the states within the safe invariant set. Furthermore, a simplified method is proposed to obtain the maximum bound of the Lyapunov-based invariant sets, which ensures input bounded and collision avoidance. System convergence under the potential field is proved through the Lyapunov stability analysis. Numerical simulation results demonstrate the comprehensive validation and good performance of the proposed method.