TR2021-148

Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty


    •  Vinod, A.P., Weiss, A., Di Cairano, S., "Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty", IEEE Annual Conference on Decision and Control (CDC), December 2021.
      BibTeX TR2021-148 PDF
      • @inproceedings{Vinod2021dec,
      • author = {Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
      • title = {Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty},
      • booktitle = {IEEE Annual Conference on Decision and Control (CDC)},
      • year = 2021,
      • month = dec,
      • url = {https://www.merl.com/publications/TR2021-148}
      • }
  • MERL Contacts:
  • Research Areas:

    Control, Dynamical Systems

Abstract:

We propose a tractable approach to generate abort-safe trajectories for safe spacecraft rendezvous that guarantees safety (the spacecraft does not enter a keep-out set defined around the rendezvous target), despite process and measurement noise, and the possibility of partial propulsion failure. We use a combination of stochastic reachability, computational geometry, and optimization to synthesize a nominal rendezvous trajectory and its associated controller. The designed trajectory is such that safe recovery is also guaranteed with high likelihood in the event of a partial propulsion failure. The recovery controllers can be computed only when needed using offline pre-computation, thereby reducing the online computational effort. Numerical experiments show the efficacy of the proposed approach.