Spacecraft proximity relative motion under robust constrained model predictive control
航天器近距离相对运动的鲁棒约束模型预测控制

With the development of on-orbit service, there is an increasing desire to control spacecraft proximity operations precisely. By employing the set theory, the mixed-integer linear programming(MILP) and the variable horizon model predictive control(MPC), we solve the robust control problem of spacecraft proximity operations, considering control constraints, state constraints, unknown bounded disturbance, control error and navigation error. Firstly, the finite-time maneuvering with a predetermined target set is formulated by the discrete C-W dynamics, the time-fuel cost function and the linear constraints. Secondly, the robust variable horizon MPC algorithm is introduced to ensure the robust feasibility and the finite-time entry of the target set. The feasibility is analyzed by using the i-step robust controllable set. The navigation error is treated as a bounded disturbance by set operations. The controller is implemented using MILP optimization. Finally, the simulation results show that the controller is efficient and robust.