Autonomous Robotic Capture of a Satellite Using Constrained Predictive Control

@article{McCourt2006AutonomousRC,
  title={Autonomous Robotic Capture of a Satellite Using Constrained Predictive Control},
  author={R. A. McCourt and C. W. de Silva},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2006},
  volume={11},
  pages={699-708}
}
This paper investigates the use of model-based predictive control for the capture of a multi-degrees-of-freedom object that moves in a somewhat predictable manner, using a deployable manipulator. The study is conducted through both computer simulations and ground-based experiments with the intended application focused on automating the robotic capture of a free-floating and spinning satellite. The present investigation uses an innovative manipulator known as the multi module deployable… CONTINUE READING