Real-Time Optimal Control of Proximity Operations

Realistic rendezvous and proximity operations involve varying mission constraints and/or dynamics at different phases. To maneuver such a hybrid system with complicated dynamics and constraints, it is challenging to find an autonomous control strategy to optimize a defined performance index while satisfying all specified dynamics and constraints. We formulate the multi-phase rendezvous and proximity problem as a quadratically constrained and quadratic program problem and solve it via our customized iterative approach. The optimal trajectory and thrust vectors for a fuel-optimal rendezvous operation are demonstrated below. We also implemented the optimization algorithm in experimental vehicles that mimic the rendezvous motions.