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Autonomous Spacecraft Rendezvous using Tube-based Model Predictive Control: Design and Application

Specht, Caroline und Bishnoi, Abhiraj und Lampariello, Roberto (2023) Autonomous Spacecraft Rendezvous using Tube-based Model Predictive Control: Design and Application. Journal of Guidance, Control, and Dynamics. American Institute of Aeronautics and Astronautics (AIAA). doi: 10.2514/1.G007280. ISSN 1533-3884.

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Offizielle URL: https://arc.aiaa.org/doi/10.2514/1.G007280

Kurzfassung

As the concentration of large space debris increases, how rendezvous maneuvers involving these typically non-cooperative, freely-tumbling bodies are planned and executed is evolving. The rendezvous must be carefully planned, employing up-to-date in situ data to identify the inertial and motion parameters of the target body, and executed in a manner which accounts for the remaining uncertainty in these parameters. This paper presents an extension of the TRACE pipeline used in the ROAM/TumbleDock Astrobee experiment campaign, which sequences the target state estimation, motion planning, controller design, and maneuver execution tasks while additionally providing logical loop-back avenues to previous tasks, increasing the chances of a successful maneuver. The pipeline's performance is analyzed in simulation, utilizing: target state estimates generated in a previous activity on a dedicated on-ground testbed; online motion planning, based on non-linear programming and warm-started using a trajectory library generated offline with a novel GPU-based method; and Tube-based Model Predictive Control to robustly track the planned trajectory. Tube-based Model Predictive Control is an actively evolving subject, distributed over multiple publications and various research interests. The necessary theory and considerations for practical implementation of the method are consolidated; its use, features, and limitations in the proposed task are demonstrated.

elib-URL des Eintrags:https://elib.dlr.de/190077/
Dokumentart:Zeitschriftenbeitrag
Titel:Autonomous Spacecraft Rendezvous using Tube-based Model Predictive Control: Design and Application
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Specht, CarolineCaroline.Specht (at) dlr.dehttps://orcid.org/0000-0002-6070-8620NICHT SPEZIFIZIERT
Bishnoi, Abhiraja.bishnoi (at) fz-juelich.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Lampariello, RobertoRoberto.Lampariello (at) dlr.dehttps://orcid.org/0000-0002-8479-2900NICHT SPEZIFIZIERT
Datum:2 April 2023
Erschienen in:Journal of Guidance, Control, and Dynamics
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Ja
DOI:10.2514/1.G007280
Verlag:American Institute of Aeronautics and Astronautics (AIAA)
ISSN:1533-3884
Status:veröffentlicht
Stichwörter:Trajectory Optimization, Control System Design, Spacecraft Guidance and Control
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Robotik
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R RO - Robotik
DLR - Teilgebiet (Projekt, Vorhaben):R - On-Orbit Servicing [RO]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung
Institut für Robotik und Mechatronik (ab 2013)
Hinterlegt von: Specht, Caroline
Hinterlegt am:05 Dez 2022 17:52
Letzte Änderung:20 Jun 2023 13:13

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