Hybrid Model Predictive Control Approach for Spacecraft Proximity Maneuvering and Docking Accounting for Collisions

In this paper, we present a hybrid Model Predictive Control (MPC)-based strategy for docking and proximity operations of a deputy spacecraft with a passively tumbling chief on a circular orbit. Both spacecraft are modeled as rigid bodies, and the objective is to safely guide the deputy spacecraft to the chief while synchronizing the orientation, translational, and angular motion of these rigid bodies as they approach for docking with each other. Depending on the proximity between these spacecraft, the maneuvers are classified into three phases—1) pre-docking, 2) contact, and 3) docked phase—each with distinct control requirements and constraints. With the proposed approach, collisions between the spacecraft can be accounted for during the contact phase. Simulation results are reported to demonstrate the effectiveness of hybrid MPC-based solution.