中文摘要：

研究在轨服务航天器自主逼近与捕获目标航天器过程中的相对位置和姿态耦合动力学与控制问题。考虑控制输入耦合，建立服务航天器对目标航天器的相对位置和姿态一体化耦合动力学模型。基于此耦合动力学模型，考虑相对位置跟踪中的控制指令耦合和控制输出受限，利用反馈线性化理论，设计相对位置和姿态一体化耦合控制算法。并利用李雅普洛夫理论证明存在有界干扰时控制系统的稳定性。数学仿真的结果表明，相对位置和姿态一体化耦合控制算法是有效的，具有较好的跟踪性能和一定的抗干扰能力。

英文摘要：

The problems of coupled relative position and attitude dynamics and control of an on-orbit servicing spacecraft while it is going to rendezvous and dock with a target spacecraft are investigated in this paper. Considering coupled control inputs, an integrated coupling relative position and attitude dynamic model of the on-orbit servicing spacecraft is built with respect to the target spacecraft. For the above-mentioned integrated coupling dynamic model, an integrated coupling control algorithm is proposed based on feedback linearization. This algorithm also takes into consideration the coupled relative position tracking control and bounded control inputs. Under the condition of bounded disturbance, the closed-loop system is proved to be steady by Lyapunov stability theory. Numerical simulation results demonstrate that the coupled control law is robust with perfect tracking performance.