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

Specht, Caroline and Bishnoi, Abhiraj and 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.

[img] PDF - Only accessible within DLR - Postprint version (accepted manuscript)

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


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.

Item URL in elib:https://elib.dlr.de/190077/
Document Type:Article
Title:Autonomous Spacecraft Rendezvous using Tube-based Model Predictive Control: Design and Application
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Specht, CarolineUNSPECIFIEDhttps://orcid.org/0000-0002-6070-8620UNSPECIFIED
Lampariello, RobertoUNSPECIFIEDhttps://orcid.org/0000-0002-8479-2900UNSPECIFIED
Date:2 April 2023
Journal or Publication Title:Journal of Guidance, Control, and Dynamics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:American Institute of Aeronautics and Astronautics (AIAA)
Keywords:Trajectory Optimization, Control System Design, Spacecraft Guidance and Control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Specht, Caroline
Deposited On:05 Dec 2022 17:52
Last Modified:20 Jun 2023 13:13

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