Screw-Based Dynamics Modeling and Flexible Prescribed Performance Control for Space Flying-Around Mission

This paper investigates the attitude-orbit synchronization control problem for spacecraft flying-around mission subject to lumped disturbance, full-state constraints, and input constraints. To characterize the attitude-orbit coupled motion in this mission under an unified parameter framework, a coupled attitude-orbit kinematics and dynamics model incorporating parametric uncertainties and external disturbances is established by employing the screw theory. Based on this mathematical model, a flexible prescribed performance control is designed, whose performance envelope dynamically adapts based on the degree of input saturation, thereby resolving the contradiction between output and input constraints. Then, a logarithmic sliding-mode manifold and the corresponding controller were established based on the equivalent error and its derivatives. To compensate for lumped uncertainty, a high-low frequency cascade observation framework is employed, integrating a classical tracking differentiator with a proposed observer. The rapid convergence of the attitude and position tracking errors is proven in presence of Lyapunov theory. Ultimately, numerical experiments are performed to validate the efficacy of the developed control strategy.