Robust control applied towards Rendezvous and Docking
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© 2009 EUCA.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¿ 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).