A Novel Uncertainty‐Integrated Design of Force Reconstruction and Control for Compliant Space Docking

In the critical tasks of spacecraft assembly and docking, the implementation of force reconstruction and control technology greatly improves the success rate of the task. Thus, a groundbreaking uncertainty‐integrated design method for force reconstruction and control for compliant operation tasks of space docking is proposed in this study. To bolster the accuracy of the contact force in the space cabin docking process, force reconstruction based on singular value decomposition (SVD) is introduced into the control loop to achieve more refined control effects. To realize the compliant operation throughout the space‐docking process, an impedance control method is incorporated into the integrated design to accomplish the motion/force control. Based on the interval uncertainty analysis method, the entire study of inverse dynamics and motion/force control in the space docking system is analyzed with the interval dimension‐wise analysis (IDWA), so as to complete the uncertainty‐integrated design of force reconstruction and control. Furthermore, a novel interval control criterion is established to facilitate a judicious switching between the simulated environmental contact force and the accurately identified contact force in the uncertainty‐integrated design of bounded force reconstruction and control. Numerical examples of cabin docking are shown to demonstrate the effectiveness of the proposed method. The designed uncertainty‐integrated method can provide theoretical support for the development of compliant space docking tasks in the actual spacecraft engineering to improve and optimize the loading environment in the assembly process.