MPC for Tracking applied to rendezvous with non-cooperative tumbling targets ensuring stability and feasibility
<|reference_start|>MPC for Tracking applied to rendezvous with non-cooperative tumbling targets ensuring stability and feasibility: A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and control constraints are considered. The approach is based on applying an intermediate coordinate transformation that eliminates the time-dependency due to rotations in the constraints. The control law is then found as the solution to a QP problem with linear constraints and dynamics, as derived from the HCW equations, that provides feasibility and stability guarantees by means of a terminal LQR and dead-beat region. The proposed control algorithm performs well in a realistic simulation scenario, namely a near rendezvous with the Envisat spacecraft.<|reference_end|>
@article{rebollo2024mpc,
    title={MPC for Tracking applied to rendezvous with non-cooperative tumbling
  targets ensuring stability and feasibility},
    author={Jose Antonio Rebollo, Rafael Vazquez, Ignacio Alvarado and Daniel
  Limon},
    journal={arXiv preprint arXiv:2403.10986},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.10986},
    primaryClass={eess.SY cs.SY math.OC}
}