Space robot active collision avoidance maneuver under thruster failure

The problem of robust control for space robot collision avoidance maneuver under constant thrust is studied in this paper. Firstly, based on the Clohessy-Wiltshire (C-W) equations and by considering uncertainties and thruster failure in radial direction, the dynamic model for space robot is proposed. Then, based on the established model, a parametric design method of robust controller is given by using the eigenstructure assignment theory and the model reference theory. Next, a new constant thrust switching algorithm is proposed by using the impulse compensation method. Finally, simulation results and performance analysis validate the effectiveness of the proposed approach.