Artificial potential incorporated adaptive fixed-time sliding mode control for target capture

With the increasing development of space missions, techniques for space non-cooperative target capture are evolving into new stage with higher control requirements under various working scenarios. Imitation Human Hand Capture is an effective rigid envelope capture method and could grasp non-cooperative targets without any cooperative feature points. In order to guarantee the safety and increase the success rate of IHHC, an adaptive fixed-time sliding mode frame based on IHHC is proposed, in which the Imitation Human Hand Capture governs the stable grasp and the sliding mode frame governs the control performance. In the proposed control frame, a fixed-time sliding mode control method is employed and the settling time can be adaptively tuned with the artificial potential function formulated according to the base-target distance and the envelope state of the arms. The proposed control frame is verified through Lyapunov function and simulation tests. The results demonstrate the effectiveness of the proposed control frame.