A nonlinear law for the short distance tracing controller of space robot

This paper describes a relative position and attitude control method for the final phase of an autonomous rendezvous and docking system. With the estimated data given for attitude and position control by a vision system output, a relative position control methods using a phase plane based nonlinear control law with thrusters as actuators and a relative attitude control scheme based on relative quaternion PD feedback method with flywheels as actuators will be given in this article. A detailed computer simulation is also shown to testify the results can achieve the request of space rendezvous and docking mission