Optimal Control for Proximity Operations and Docking

Lee, Dae-Ro;Pernicka, Henry

  • 발행 : 2010.09.15


This paper proposes optimal control techniques for determining translational and rotational maneuvers that facilitate proximity operations and docking. Two candidate controllers that provide translational motion are compared. A state-dependent Riccati equation controller is formulated from nonlinear relative motion dynamics, and a linear quadratic tracking controller is formulated from linearized relative motion. A linear quadratic Gaussian controller using star trackers to provide quaternion measurements is designed for precision attitude maneuvering. The attitude maneuvers are evaluated for different final axis alignment geometries that depend on the approach distance. A six degrees-of-freedom simulation demonstrates that the controllers successfully perform proximity operations that meet the conditions for docking.


Optimal control;Proximity operations and docking;State-dependent Riccati equation controller;Linear quadratic tracking controller;Linear quadratic Gaussian controller


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피인용 문헌

  1. Nonlinear Control for Proximity Operations Based on Differential Algebra vol.38, pp.11, 2015,