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/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Autonomous Spacecraft Rendezvous using Tube-based Model Predictive Control: Design and Application | ||||||||||||||||
Autoren: |
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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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