Direct-Adaptive Nonlinear MPC for Spacecraft Near Asteroids

In this work, we propose a novel controller based on simple adaptive methodology and model predictive control (MPC) to generate track trajectories of spacecraft in the vicinity asteroids. The formulation is using as feedback MPC feed-forward controller. system model, asteroid shape inertia are assumed be unknown, with exception estimated total mass angular velocity asteroid. used input only combined obstacle avoidance constraints. However, since from calculated an approximated asteroid, it fails presence disturbances due asteroid’s irregular gravitational field. Hence, conjunction handle unknown disturbances. numerical results presented work show that able while generating tracking sub-optimal better than or solely.