关键词: 非合作目标, 双目视觉敏感器, 递阶饱和PID, 位置控制, 姿态控制, 解耦控制

Abstract: The control system design and simulation of noncooperative target proximity mission are investigated. Considering binocular vision sensor with imaging errors, a new relative position computation method is proposed to obtain the position of noncooperative target. With constraints like maximum relative velocity, control force and control torque, the cascade saturation PID control based on nonlinear decoupled position control and attitude control algorithms are developed in the lineofsight coordinate system. Further, holding points are adopted in conjunction with the proposed control methods to avoid collision with the target. Numerical simulation results in a typical noncooperative target proximity scenario are provided to demonstrate the effectiveness and reliability of the proposed strategy.

Key words: noncooperative target, binocular vision sensor, cascade saturation PID, position control, attitude control, decoupling control