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CEAS EuroGNC 2024

Mixed Integer Model Predictive Control for a free-floating platform with binary and continuous actuation
Franek Stark Master Student, Robotics and Autonomous Systems, Universität zu Lübeck, 23562 Lübeck, Germany and Robotics Innovation Center, Deutsches Forschungszentrum für Künstliche Intelligenz GmbH, 28359 Bremen, Germany.
Shubham Vyas Researcher, Robotics Innovation Center, Deutsches Forschungszentrum für Künstliche Intelligenz GmbH, 28359 Bremen, Germany and AG Robotik, Universität Bremen, 28359 Bremen, Germany.
Georg Schildbach Professor, Institute for Electrical Engineering in Medicine, Universität zu Lübeck, 23562 Lübeck, Germany.
Frank Kirchner Professor, Executive Director and Head of Robotics Innovation Center, Deutsches Forschungszentrum für Künstliche Intelligenz GmbH, 28359 Bremen, Germany and AG Robotik, Universität Bremen, 28359 Bremen, Germany.
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.
Keywords: Model Predictive Control; Mixed Integer; Binary thrusters; Dwell time constraints; Space robots
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Franek Stark, Shubham Vyas, Georg Schildbach, Frank Kirchner: Mixed Integer Model Predictive Control for a free-floating platform with binary and continuous actuation. Proceedings of the 2024 CEAS EuroGNC conference. Bristol, UK. June 2024. CEAS-GNC-2024-013.
BibTeX entry:

@Incollection{CEAS-GNC-2024-013,
    author = {Stark, Franek and Vyas, Shubham and Schildbach, Georg and Kirchner, Frank},
    title = {Mixed Integer Model Predictive Control for a free-floating platform with binary and continuous actuation},
    booktitle = {Proceedings of the 2024 {CEAS EuroGNC} conference},
    address = {Bristol, UK},
    month = jun,
    year = {2024},
    note = {CEAS-GNC-2024-013}
}