Publication
Mixed Integer Model Predictive Control for a free-floating platform with binary and continuous actuation
Franek Stark; Shubham Vyas; Georg Schildbach; Frank Kirchner
In: Proceedings of the 2024 CEAS EuroGNC conference. CEAS Conference on Guidance, Navigation and Control (EuroGNC-2024), June 11-13, Bristol, United Kingdom, CEAS, Bristol, UK, 2024.
Abstract
This work develops a novel Mixed Integer Model Predictive Control (MIMPC) for European Space Agency (ESA)’s 3-dof free-floating platform which is actuated using on/off-thrusters that are subject to activation time constraints and a Reaction Wheel (RW). It compares a penalty-term, a Linear Complementarity Constraints (LCC), and a Mixed Integer (MI) based formulation to transcribe the on/off thrusters within the optimization problem. A set of linear constraints is presented to enforce the thruster time constraints. Analyses show that under the activation time constraints and real-time requirements, only the MI formulation provides a functional MPC controller. Hence, an MIMPC which directly controls the system’s eight thrusters and RW is developed. Simulated results show that the controller can (sub-) optimally control and stabilize the system in real time for a short enough prediction horizon. By including the thruster’s timing and on/off constraints, the controller is able to exploit the system’s structure to provide efficient control.
Projects
- M-RoCK - Human-Machine Interaction Modeling for Continuous Improvement of Robot Behavior
- COOPERANTS - COllabOrative Processes and sERvices for AeroNauTics and Space
- AAPLE - Expanding the Action-Affordance Envelope for Planetary Exploration using Dynamics Legged Robots