Guaranteed Safe Spacecraft Docking With Control Barrier Functions

This letter presents a strategy for control of spacecraft docking with non-maneuvering target in the presence safety constraints and bounded disturbances. The disturbances prevents convergence to unique state, so our formulation, is defined as occurring within set constructed using prescribed tolerances. Safety ensured via application Robust Control Barrier Functions render designated safe forward invariant any allowable disturbance. However, this necessarily presumes worst-case disturbance, thus restricts trajectories subset when disturbance not present. presented controller accounts restriction, guarantees that both remains achieves finite time then validated simulation landing on an asteroid, two low Earth orbit.