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Chance-constrained model predictive control for spacecraft rendezvous with disturbance estimation
Authors:Francisco Gavilan  Eduardo F Camacho
Affiliation:a Departamento de Ingeniería Aeroespacial, Escuela Superior de Ingenieros, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain
b Departamento de Ingeniería de Sistemas y Automática, Escuela Superior de Ingenieros, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain
Abstract:A robust Model Predictive Controller (MPC) is used to solve the problem of spacecraft rendezvous, using the Hill-Clohessy-Wiltshire model with additive disturbances and line-of-sight constraints. Since a standard (non-robust) MPC is not able to cope with disturbances, a robust MPC is designed using a chance-constrained approach for robust satisfaction of constraints in a probabilistic sense. Disturbances are modeled as Gaussian allowing for an explicit transformation of the probabilistic constraints into simple algebraic constraints. To estimate the distribution parameters a predictor of disturbances is proposed. Both robust and non-robust MPC control laws are compared using the Monte Carlo method, which shows the superiority of the robust MPC.
Keywords:Predictive control  Robust control  Bounded disturbances  Constraint satisfaction problems  Spacecraft autonomy  Space vehicles
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