The multi-slide-mode control for the terminal phase of R and D

The multi-slide-mode control (MSMC) is used to realize the complex flight trajectory of the terminal phase of rendezvous and docking (R and D). The switching-function of MSMC is described by piecewise function, which represents multiple sliding modes. The MSMC is more energy-saving than conventional sliding mode control. The terminal phase of R and D is divided into three connected phases, approaching phase, flying-around phase and closing phase. According to the control task of the above phases, the MSMC is designed respectively. The control system is simulated and the results show that the MSMC can accomplish the complex flight trajectory and the procedure is high-precision and energy-saving.