Model-Based Adaptive Pose Coordinated Control Between Feature Points of Two Rigid Bodies

A six-degrees-of-freedom integrated robust adaptive state feedback controller is proposed for relative pose motion between feature points of two rigid bodies in this paper. To achieve the attitude synchronization and relative pose tracking of two feature points on rigid bodies, the novel relative pose dynamics are derived in the body-fixed coordinate frame of the chaser, and a model-based robust adaptive controller is developed with combining element-wise and norm-wise adaptive laws. It is also proved in the framework of Lyapunov stability theory that the proposed controller can ensure the asymptotically convergence of the relative pose and relative velocity. Additionally, the passivity analysis of the proposed controlled system is also given to show some physical insights. Simulation results on the spacecraft closerange rendezvous and docking mission validate the effectiveness of the proposed control approach.