Model predictive control for velocity tracking in synchronous fly-around based on dual quaternion error dynamics

Area of Science:

• Aerospace Engineering
• Control Systems Theory
• Robotics

Background:

• Precise control of spacecraft relative motion is essential for on-orbit inspection tasks.
• Addressing the coupled dynamics between translation and rotation is a significant challenge in proximity operations.

Purpose of the Study:

• To develop an accurate modeling-based control scheme for six degrees of freedom (6DOF) coupled synchronous fly-around control.
• To resolve translation-rotation coupling issues in observer spacecraft during proximity operations.

Main Methods:

• Utilized a dual quaternion framework for unified kinematics and dynamics modeling of relative pose.
• Employed a linearized error state-space equation for simplified control design with guaranteed accuracy.
• Designed a Model Predictive Control (MPC) scheme incorporating a modified cost function for velocity tracking.

Main Results:

• Lyapunov stability analysis confirmed the asymptotic convergence of relative state errors, ensuring control reliability.
• Numerical simulations validated the effectiveness of the proposed MPC scheme, particularly for velocity tracking.
• The control scheme successfully handled practical engineering constraints, demonstrating its realism.

Conclusions:

• The proposed dual quaternion-based MPC scheme provides an effective solution for 6DOF coupled fly-around control.
• This method enhances precision and trajectory tracking capabilities for spacecraft on-orbit inspection.
• The approach offers significant improvements for velocity tracking missions, a common challenge in relative motion control.