Chance-constrained model predictive control for spacecraft rendezvous with disturbance estimation |
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Authors: | Francisco Gavilan Eduardo F Camacho |
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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 |
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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. |
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Keywords: | Predictive control Robust control Bounded disturbances Constraint satisfaction problems Spacecraft autonomy Space vehicles |
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