Experimental Evaluation of Model Predictive Control and Inverse Dynamics Control for Spacecraft Proximity and Docking Maneuvers
| Autor: | Richard Zappulla, Marcello Romano, Josep Virgili-Llop, Costantinos Zagaris, Hyeongjun Park |
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| Přispěvatelé: | Naval Postgraduate School (U.S.), Spacecraft Robotics Laboratory |
| Rok vydání: | 2016 |
| Předmět: |
020301 aerospace & aeronautics
0209 industrial biotechnology Engineering Optimization problem Spacecraft Rendezvous and proximity operations business.industry Inverse dynamics Hardware-in-the-loop simulation Aerospace Engineering 02 engineering and technology Solver Nonlinear programming Model predictive control 020901 industrial engineering & automation 0203 mechanical engineering Space and Planetary Science Control theory Hardware-in-the-loop Quadratic programming business Simulation |
| Popis: | The article of record as published may be found at http://dx.doi.org/10.1007/s12567-017-0155-7 An experimental campaign has been conducted to evaluate the performance of two different guidance and control algorithms on a multi-constrained docking maneuver. The evaluated algorithms are model predictive control (MPC) and inverse dynamics in the virtual domain (IDVD). A linear–quadratic approach with a quadratic programming solver is used for the MPC approach. A nonconvex optimization problem results from the IDVD approach, and a nonlinear programming solver is used. The docking scenario is constrained by the presence of a keep-out zone, an entry cone, and by the chaser’s maximum actuation level. The performance metrics for the experiments and numerical simulations include the required control effort and time to dock. The experiments have been conducted in a groundbased air-bearing test bed, using spacecraft simulators that float over a granite table. |
| Databáze: | OpenAIRE |
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