Robust control for constant thrust collision avoidance maneuver under thrust failure

A robust control for the space robot collision avoidance maneuver under thrust failure in one axis is studied based on the relative motion dynamic model. The design problem is cast into a convex optimization problem subject to linear matrix inequalities by introducing a Lyapunov function and considering parameter uncertainties. By solving this convex optimization problem, the robust controller under constant thrust can be designed satisfying the requirements. Furthermore, a new algorithm of constant thrust fitting is proposed by using the impulse compensation method. At last, the switch control laws are obtained by using the isochronous interpolation method.