MPC for Tracking applied to rendezvous with non-cooperative tumbling targets ensuring stability and feasibility
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866914717545529344 |
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| author | Rebollo, Jose Antonio Vazquez, Rafael Alvarado, Ignacio Limon, Daniel |
| author_facet | Rebollo, Jose Antonio Vazquez, Rafael Alvarado, Ignacio Limon, Daniel |
| contents | A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and control constraints are considered. The approach is based on applying an intermediate coordinate transformation that eliminates the time-dependency due to rotations in the constraints. The control law is then found as the solution to a QP problem with linear constraints and dynamics, as derived from the HCW equations, that provides feasibility and stability guarantees by means of a terminal LQR and dead-beat region. The proposed control algorithm performs well in a realistic simulation scenario, namely a near rendezvous with the Envisat spacecraft. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_10986 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | MPC for Tracking applied to rendezvous with non-cooperative tumbling targets ensuring stability and feasibility Rebollo, Jose Antonio Vazquez, Rafael Alvarado, Ignacio Limon, Daniel Systems and Control Optimization and Control A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and control constraints are considered. The approach is based on applying an intermediate coordinate transformation that eliminates the time-dependency due to rotations in the constraints. The control law is then found as the solution to a QP problem with linear constraints and dynamics, as derived from the HCW equations, that provides feasibility and stability guarantees by means of a terminal LQR and dead-beat region. The proposed control algorithm performs well in a realistic simulation scenario, namely a near rendezvous with the Envisat spacecraft. |
| title | MPC for Tracking applied to rendezvous with non-cooperative tumbling targets ensuring stability and feasibility |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2403.10986 |