Advanced control strategies for collaborative, multiple satellite docking

• Κύριος συγγραφέας: Φούρλας, Φραγκίσκος
• Άλλοι συγγραφείς: Fourlas, Fragkiskos
• Γλώσσα: English
• Έκδοση: 2023
• Θέματα: Robotics; Nonlinear cooperative control; Nonlinear model predictive control; Spacecraft docking; Visual navigation; Ρομποτική; Μη-γραμμικός συνεργατικός έλεγχος; Μη-γραμμικός έλεγχος πρόβλεψης μοντέλου; Πρόσδεση διαστημοπλοίων; Οπτική πλοήγηση

With the ever growing number of space debris in orbit, the need to prevent further space polution is becoming more and more apparent. Refueling, servicing, inspections and deorbiting of spacecraft are some examples of On-Orbit Servicing (OOS) operations that require precise navigation and docking in space. Using multiple, collaborating robots to handle these tasks can greatly increase the efficiency of the mission in terms of time and cost. This thesis will introduce a modern and efficient control architecture for satellites on collaborative docking missions. The proposed architecture uses a centralized scheme that combines state-of-the-art, ad-hoc implementations of algorithms and techniques to maximize robustness and flexibility. It is based on a Non-linear Model Predictive Controller (NMPC) for which, an efficient cost function and constraint sets are designed to ensure a safe and accurate docking. A simulation environment is also presented to validate and test the proposed control scheme. The controller is also tested in a real-world environment using a 2D floating satellite platform.