Model Predictive Controller for Rendezvous with Non-Cooperative Tumbling Targets

Core Concepts

MPC is effective for safe rendezvous with non-cooperative tumbling targets in space missions.

Abstract

A Model Predictive Controller (MPC) is proposed for rendezvous with non-cooperative tumbling targets in space debris removal applications. The controller considers rotational dynamics and constraints, ensuring stability and feasibility. MPC has been extensively studied for spacecraft rendezvous and formation flying, offering robustness and stability guarantees. The proposed control algorithm performs well in simulation scenarios, showing promise for real-world applications. Constraints, including LOS constraints, are handled efficiently by the controller. The design of the controller involves terminal controllers based on LQR and dead-beat regions to ensure safe operations. Feasibility constraints are derived to guarantee stable tracking of equilibrium trajectories. The controller's efficiency and safety make it suitable for embedded systems in space missions.

Stats

"The target’s three-dimensional non-periodic rotational dynamics as well as other state and control constraints are considered." "The control law is then found as the solution to a QP problem with linear constraints and dynamics." "The proposed control algorithm performs well in a realistic simulation scenario." "MPCT stands out as an effective technique for this task." "Contemporary MPC is backed by a robust theoretical foundation rooted in Lyapunov and invariant set theories."

Quotes

"The proposed control algorithm performs well in a realistic simulation scenario." "MPCT stands out as an effective technique for this task." "Contemporary MPC is backed by a robust theoretical foundation rooted in Lyapunov and invariant set theories."

Key Insights Distilled From

MPC for Tracking applied to rendezvous with non-cooperative tumbling targets ensuring stability and feasibility

by Jose Antonio... at arxiv.org 03-19-2024

https://arxiv.org/pdf/2403.10986.pdf

Deeper Inquiries

How can the proposed MPC be adapted for different types of space missions

The proposed Model Predictive Controller (MPC) can be adapted for various types of space missions by adjusting the constraints, dynamics, and control objectives to suit the specific requirements of each mission. For instance, in a scenario where spacecraft need to rendezvous with cooperative targets instead of non-cooperative ones, the controller's design parameters can be modified accordingly. By altering the weighting matrices in the cost function and adjusting the terminal controllers based on different target behaviors or mission goals, the MPC can effectively cater to a wide range of space missions.

What challenges might arise when implementing this MPC approach in real-time systems

Implementing this MPC approach in real-time systems may pose several challenges. One significant challenge is computational complexity, especially when dealing with high-dimensional state spaces or long prediction horizons. Real-time implementation requires efficient algorithms that can solve optimization problems quickly without compromising accuracy. Additionally, ensuring stability and feasibility guarantees while meeting stringent time constraints is crucial but challenging. The integration of sensor data for feedback into the MPC system also needs to be carefully managed to account for delays and uncertainties in measurements.

How can machine learning enhance predictive models used in conjunction with MPC

Machine learning techniques can significantly enhance predictive models used alongside MPC by providing more accurate trajectory predictions and uncertainty estimations. By leveraging historical data from previous missions or simulations, machine learning algorithms can learn patterns and trends that traditional models might overlook. These enhanced predictive models not only improve trajectory planning but also enable adaptive control strategies that adjust dynamically based on changing conditions or unforeseen disturbances during a mission. Furthermore, real-time machine learning capabilities allow these predictive models to update continuously as new data becomes available during a mission, leading to more robust and reliable control decisions when combined with MPC frameworks.