Implementation of Small Satellite Autonomous Rendezvous Using Model Predictive Control

View Video Presentation: https://doi.org/10.2514/6.2022-0838.vid An implementation of a Model Predictive Control (MPC) algorithm is used to demonstrate the autonomous rendezvous and docking (AR&D) maneuver for a mission scenario involving two 6U CubeSats with limited actuation. The MPC formulation is based on a Quadratic Program (QP) which is solved using the CVXGEN software. The AR&D maneuver is split into three phases based on the relative distance between the spacecraft, in which the MPC formulation for the control changes through needed constraints. The three phases are: far-range (> 2 km relative distance to target), mid-range (between 10 m and 2 km relative distance), and the close-range with the final approach (< 10 m relative distance). The testing scenarios assume an actively controlled CubeSat at a starting relative distance of 5 km from the target, with thruster models providing impulsive velocity changes.