Cooperative Game-Based Optimization of Flexible Robust Constraint Following Control for Spacecraft Rendezvous System With Uncertainties

This article investigates the constraint following control and cooperative game-based optimization of the spacecraft rendezvous system with parametric uncertainty and unknown external disturbances. For the nominal system, the constraint force with the analytical expression is implemented by applying Udwadia–Kalada approach. Aiming at uncertainties and initial condition deviations, a flexible robust constraint following control with a self-adjusting term is proposed. The deterministic performance is guaranteed: uniform boundedness and uniform ultimate boundedness. Meanwhile, the control input is always stable in a small range. Further, for improving the system performance with lower control cost, a cooperative game-based optimization scheme is proposed. The Pareto optimality and Pareto frontier are obtained. The effectiveness of the above methods are verified by simulation of spacecraft rendezvous system with two servo constraints.