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Dual quaternion based autonomous rendezvous and docking via model predictive control

Iskender, O.B. and Ling, K.-V. and Simonini, L. and Schlotterer, Markus and Seelbinder, David and Theil, Stephan and Maciejowski, J.M. (2019) Dual quaternion based autonomous rendezvous and docking via model predictive control. International Astronautical Federation, IAF. 70th International Astronautical Congress, IAC 2019, 2019-10-21 - 2019-10-25, Washington, United States. ISSN 0074-1795.

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Official URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85079169634&partnerID=40&md5=c124c3db4eb629bc3a329a3628ecfe3b


This paper presents a Guidance and Control (G&C) strategy to address 6-Degrees-Of-Freedom (6-DOF) spacecraft attitude and position control for future Rendezvous and Docking (RVD) missions. Future RVD missions, specifically when the target is uncooperative, are challenging as geometric constraints and parameter uncertainties are both present. In addition, due to close proximity and potential angular motion of the target satellite, the point mass approach is no longer sufficient to represent the relative motion dynamics. Hence, throughout this paper, the coupling between translational and rotational motion of spacecraft relative motion is addressed via Dual Quaternions and Piece-wise Model Predictive Control (MPC) framework. The algorithm is developed such that the relative position of interest is no longer Centre-Of-Mass (COM) position of the target satellite but can be the docking port or a predefined grasping feature. In addition, physical constraints are explicitly formulated and respected by formulating a constrained optimization problem. The proposed framework is real-time implementable because the control problem is formulated as a convex optimization problem. This is demonstrated by Hardware-In-The-Loop experiments to control a 5-DOF motion of spacecraft. The spacecraft simulator has 16 thrusters; therefore, convex optimization based allocation strategy to map the force and torque control signals to the 16 thrusters is also proposed. Copyright © 2019 by the International Astronautical Federation (IAF). All rights reserved.

Item URL in elib:https://elib.dlr.de/140072/
Document Type:Conference or Workshop Item (Speech)
Title:Dual quaternion based autonomous rendezvous and docking via model predictive control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Iskender, O.B.Nanyang Technological University Singapore, SingaporeUNSPECIFIEDUNSPECIFIED
Ling, K.-V.Nanyang Technological University Singapore, SingaporeUNSPECIFIEDUNSPECIFIED
Simonini, L.Thales Alenia Space France, FranceUNSPECIFIEDUNSPECIFIED
Schlotterer, MarkusUNSPECIFIEDhttps://orcid.org/0000-0002-6565-3622UNSPECIFIED
Seelbinder, DavidUNSPECIFIEDhttps://orcid.org/0000-0003-4080-3169UNSPECIFIED
Theil, StephanUNSPECIFIEDhttps://orcid.org/0000-0002-5346-8091UNSPECIFIED
Maciejowski, J.M.University of Cambridge, United KingdomUNSPECIFIEDUNSPECIFIED
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Publisher:International Astronautical Federation, IAF
Series Name:Proceedings of the International Astronautical Congress, IAC
Keywords:Constrained optimization; Convex optimization; Docking; Manned space flight; Model predictive control; Position control; Predictive control systems; Real time control; Space simulators; Spacecraft; Tracking (position), Autonomous rendezvous and docking; Constrained optimi-zation problems; Convex optimization problems; Embedded optimizations; Real-time implementations; Relative motion dynamics; Rendezvous; Space Servicing, Space rendezvous
Event Title:70th International Astronautical Congress, IAC 2019
Event Location:Washington, United States
Event Type:international Conference
Event Start Date:21 October 2019
Event End Date:25 October 2019
Organizer:International Astronautical Federation, IAF
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):Hochpräzise Lageregelung (old)
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Navigation and Control Systems
Deposited By: Theil, Dr.-Ing. Stephan
Deposited On:06 Jan 2021 12:31
Last Modified:24 Apr 2024 20:41

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