Session
Weekend Poster Session 1
Location
Utah State University, Logan, UT
Abstract
On-Orbit Servicing (OOS) is a field of orbital operations concerned with the maintenance, repair, and refuelling of space assets. It is one of many proposed solutions to aid with the mitigation of the growing space debris population. In this work, we propose the use of a CubeSat servicer equipped with a 1 Degree of Freedom (DoF) robotic arm for performing Orbital Replacement Unit (ORU) installations to demonstrate its capabilities for OOS. The servicer is controlled using Model Predictive Control (MPC) which computes control inputs using a linearized form of the system dynamics while considering the strict force and torque constraints arising from the limited control authority of the base spacecraft’s actuators. The performance of the controller is demonstrated through a simulated ORU installations with varying initial conditions using Vortex Studio. Furthermore, the servicer is provided with imperfect knowledge of the position of the target spacecraft showing the ability of the controller to handle uncertainties. The results presented showcase the capabilities of the proposed spacecraft and controller for OOS.
SSC23-WP1-14 Poster
Linear Model Predictive Control of a CubeSat Servicer for On-Orbit Servicing
Utah State University, Logan, UT
On-Orbit Servicing (OOS) is a field of orbital operations concerned with the maintenance, repair, and refuelling of space assets. It is one of many proposed solutions to aid with the mitigation of the growing space debris population. In this work, we propose the use of a CubeSat servicer equipped with a 1 Degree of Freedom (DoF) robotic arm for performing Orbital Replacement Unit (ORU) installations to demonstrate its capabilities for OOS. The servicer is controlled using Model Predictive Control (MPC) which computes control inputs using a linearized form of the system dynamics while considering the strict force and torque constraints arising from the limited control authority of the base spacecraft’s actuators. The performance of the controller is demonstrated through a simulated ORU installations with varying initial conditions using Vortex Studio. Furthermore, the servicer is provided with imperfect knowledge of the position of the target spacecraft showing the ability of the controller to handle uncertainties. The results presented showcase the capabilities of the proposed spacecraft and controller for OOS.
