English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper investigates the safety guaranteed problem in spacecraftinspection missions, considering multiple position obstacles and logicalattitude forbidden zones. In order to address this issue, we propose a controlstrategy based on control barrier functions, summarized as "safety check onkinematics" and "velocity tracking on dynamics" approach. The proposed approachemploys control barrier functions to describe the obstacles and to generatesafe velocities via the solution of a quadratic programming problem.Subsequently, we design a proportional-like controller based on the generatedvelocity, which, despite its simplicity, can ensure safety even in the presenceof velocity tracking errors. The stability and safety of the system arerigorously analyzed in this paper. Furthermore, to account for modeluncertainties and external disturbances, we incorporate an immersion andinvariance-based disturbance observer in our design. Finally, numericalsimulations are performed to demonstrate the effectiveness of the proposedcontrol strategy.

Safety Guaranteed Control for Spacecraft Inspection Mission