Rendez-vous and docking position tracking via sliding mode control

This paper proposes a sliding mode strategy for the Chaser position tracking during the approaching maneuver to a passive vehicle (Target). The presented sliding mode control procedure considers different phases of the approaching maneuver, which are identified mainly based on the Chaser distance from the Target. The various stages correspond to different choices of the designed sliding mode control switching parameters (different frequencies, gains and desired velocity). The tracking performance of the proposed sliding mode controller is demonstrated by simulations. The obtained results are analyzed in order to evaluate the impact of the different choices on the overall performances (fuel consumption, precision of the docking and time required to complete the maneuver.