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Enhanced Constrained Predictive Control for Applications to Autonomous Vehicles and Missions

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Technical Report,28 Aug 2015,26 Nov 2016

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Regents of the University of Michigan Ann Arbor

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This project report summarizes outcomes of a one year research project into enhancing nonlinear constrained model predictive control capabilities for autonomous vehicles and missions. For the problem of under actuated autonomous spacecraft control, we have demonstrated, analyzed and enhanced, in terms of computations, CNMPC solutions which are systematic, lead to stabilizing, discontinuous feedback laws with exponential convergence rates, and are suitable for on-board implementation. For the problem of the constrained control of the coupled rotational and translational relative motion spacecraft dynamics, a periodic reference governor strategy has been developed which permits the deputy spacecraft to dock with a chief spacecraft in orbit subject to control constraints and without collisions. For the problem of control of spacecraft formations, we have developed and demonstrated a predictive time shift governor control scheme which stabilizes several spacecraft to a given formation while adhering to control, communication, and collision constraints.

Subject Categories:

  • Navigation and Guidance
  • Spacecraft Trajectories and Reentry

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