Nonlinear model predictive control for spacecraft rendezvous and docking with a rotating target
Zappulla, Richard II
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In this paper, we develop a nonlinear model predictive control (NMPC) approach for spacecraft rendezvous and docking (RVD) with a rotating target platform. A strategy to enforce and handle constraints is proposed for collision-free and soft docking while real-time computation is achieved. In the strategy, constraints on thrust, spacecraft positioning within the entry cone from the docking port, and collision avoidance are systemically treated and switched in two-phase spacecraft RVD maneuvering. Dynamically reconfigurable constraints with a switching algorithm are introduced to guide the chaser spacecraft into the docking port in the final docking phase. The performance of the developed NMPC controller is analyzed for test cases using a MATLAB/Simulink-based simulator. The controller is also implemented on an air-bearing test bed to demonstrate the capability to perform real-time computation and to satisfy constraints.
To be published in the proceedings of the 27th AAS/AIAA Spaceflight Mechanics Meeting, San Antonio, TX, Feb. 6-9, 2017
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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