Robust control applied towards Rendezvous and Docking

Abstract

The present work introduces low authority robust control algorithms and their application in a consistent procedure of Rendezvous and Docking or Berthing of Spacecrafts (RVD/B). This consistency implies achieving a maturity level that guarantees successful docking at least 90% of the time. Robust Nonlinear Adaptive Controllers are developed to compensate the friction effects in ground testing. H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> controllers are implemented to take into account the uncertainties of the real system in a 6 DOF environment aboard the International Space Station (ISS) using the Synchronized Position Hold Engage Reoriented Experimental Satellites (SPHERES).