TR2019-064
Nonlinear Model Predictive Control of Coupled Rotational-Translational Spacecraft Relative Motion
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- "Nonlinear Model Predictive Control of Coupled Rotational-Translational Spacecraft Relative Motion", American Control Conference (ACC), DOI: 10.23919/ACC.2019.8814345, July 2019, pp. 3581-3586.BibTeX TR2019-064 PDF
- @inproceedings{Malladi2019jul,
- author = {Malladi, Bharani and Di Cairano, Stefano and Weiss, Avishai},
- title = {Nonlinear Model Predictive Control of Coupled Rotational-Translational Spacecraft Relative Motion},
- booktitle = {American Control Conference (ACC)},
- year = 2019,
- pages = {3581--3586},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC.2019.8814345},
- issn = {2378-5861},
- isbn = {978-1-5386-7926-5},
- url = {https://www.merl.com/publications/TR2019-064}
- }
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- "Nonlinear Model Predictive Control of Coupled Rotational-Translational Spacecraft Relative Motion", American Control Conference (ACC), DOI: 10.23919/ACC.2019.8814345, July 2019, pp. 3581-3586.
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MERL Contacts:
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Research Area:
Abstract:
In this paper, a nonlinear model predictive control (NMPC) policy is developed for kinematically and dynamically coupled rotational-translational motion of a chaser spacecraft relative to an uncooperative, tumbling target asteroid. The goal of the NMPC policy is to rendezvous the chaser spacecraft, equipped with a robotic grasper, to the asteroid surface to collect a sample rock. The relative spacecraft motion model is kinematically coupled due to the non-center-of-mass points on both the target and chaser. Additionally, the chaser spacecraft is actuated by eight gimbaled thrusters, introducing dynamic coupling via control that simultaneously produces forces and torques. The combined 6-degree-of-freedom kinematically and dynamically coupled relative motion model is constrained by the NMPC policy to approach the asteroid surface via a lineof-sight cone, while enforcing thruster gimbal limit constraints. Simulations demonstrate the effectiveness of the NMPC policy in bringing the chaser spacecraft to rest relative the tumbling asteroid while satisfying state and input constraints.
Related News & Events
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NEWS MERL researchers presented 8 papers at American Control Conference Date: July 10, 2019 - July 12, 2019
Where: Philadelphia
MERL Contacts: Ankush Chakrabarty; Stefano Di Cairano; Devesh K. Jha; Yebin Wang; Avishai Weiss
Research Areas: Control, Machine Learning, OptimizationBrief- At the American Control Conference, MERL presented 8 papers on subjects including model predictive control applications, estimation and motion planning for vehicles, modular control architectures, and adaptation and learning.