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Constrained autonomous satellite docking via differential flatness and model predictive control

Farahani, Samira S. and Papusha, Ivan and McGhan, Catharine and Murray, Richard M. (2016) Constrained autonomous satellite docking via differential flatness and model predictive control. In: IEEE 55th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 3306-3311. ISBN 978-1-5090-1837-6. http://resolver.caltech.edu/CaltechAUTHORS:20170111-150031011

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Abstract

We investigate trajectory generation algorithms that allow a satellite to autonomously rendezvous and dock with a target satellite to perform maintenance tasks, or transport the target satellite to a new operational location. We propose different path planning strategies for each of the phases of rendezvous. In the first phase, the satellite navigates to a point in the Line of Sight (LOS) region of the target satellite. We show that the satellite's equations of motion are differentially flat in the relative coordinates, hence the rendezvous trajectory can be found efficiently in the flat output space without a need to integrate the full nonlinear dynamics. In the second phase, we use model predictive control (MPC) with linearized dynamics to navigate the spacecraft to the final docking location within a constrained approach envelope. We demonstrate feasibility of this study by simulating a sample docking mission.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/CDC.2016.7798766 DOIArticle
http://ieeexplore.ieee.org/document/7798766/PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2016 IEEE. This work was supported in part by the Boeing company and by the Engineering Resilient Space Systems group.
Funders:
Funding AgencyGrant Number
Boeing CompanyUNSPECIFIED
Engineering Resilient Space Systems GroupUNSPECIFIED
Record Number:CaltechAUTHORS:20170111-150031011
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170111-150031011
Official Citation:S. S. Farahani, I. Papusha, C. McGhan and R. M. Murray, "Constrained autonomous satellite docking via differential flatness and model predictive control," 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, pp. 3306-3311. doi: 10.1109/CDC.2016.7798766 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7798766&isnumber=7798233
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73446
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:20 Jan 2017 00:57
Last Modified:20 Jan 2017 00:57

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