A Hybrid Model Predictive Control Framework for Docking and Stabilization of Composite Rigid Spacecraft Dynamics

This paper presents a hybrid model predictive control (MPC)–based framework for the rendezvous and docking of a deputy spacecraft and a passively tumbling chief on a circular orbit. Both spacecraft are modeled as rigid bodies with coupled translational and rotational dynamics. The objective is to safely guide the deputy spacecraft to dock with the chief spacecraft, and stabilize the motion of the composite rigid body. Depending on the proximity between these spacecraft, the overall control problem is partitioned into two phases—1) capture, and 2) post-capture phase—each with unique control objectives, dynamical models, and constraints. During the capture phase, unanticipated low velocity collision contacts between the spacecraft are taken into consideration, while in the post-capture phase, simultaneous stabilization of the tumbling motion and guiding the composite system to a predetermined parking orbit are achieved. Simulation results are reported to demonstrate the effectiveness of the proposed control framework.