摘要：In this paper, MPC based constrained trajectory optimization algorithms has been applied for rendezvous and docking of two small satellites to achieve precise terminal soft docking with path constraints. A receding horizon MPC has been applied in order to reduce the computational load. The constraints such as thrust magnitude limit, chaser spacecraft positioning with in Line-of-Sight (LOS) while approaching the target spacecraft, and terminal velocity limit for soft-docking are considered. In addition debris avoidance constraints are considered and obstacles are assumed as spheres for simplicity. Nonlinear MPC optimization problem with constraints is solved by Sequential Quadratic Program (SQP) technique. The robustness of this control has been verified using nonlinear dynamics with perturbation model.
关键词：Model Predictive Control (MPC);Optimal Control;Convex optimization;Rendezvous;Docking;Spacecraft control
