This study proposes a novel, safe, and stable-by-design model predictive control (MPC) framework for multistage autonomous rendezvous and docking (AR&D) with a tumbling target, considering several practical challenges (e.g., control saturation, velocity constraints, and collision avoidance) in dock-enabling conditions. In the first stage, global near-optimal and deterministic convergent strategies are designed to drive the chaser to a time-varying line-of-sight (LOS) region within a few steps. The proposed controller includes a terminal constraint to ensure recursive feasibility and stability. In the second stage, the proposed controller is a periodic MPC for tracking under the novel framework, whose reference to be followed is the trajectory of the docking port of the tumbling target. This controller combines trajectory planning and control in a single layer, thereby improving the real-time performance of the algorithm. Moreover, the novel MPC framework incorporates a terminal constraint that guarantees that the closed-loop system enjoys recursive feasibility, safe evolution, and asymptotic convergence to the optimal admissible periodic trajectory with respect to the trajectory of the target docking port. The simulation results verified the efficiency of the proposed control strategy.

本研究提出了一种新颖、安全和稳定的设计模型预测控制 (MPC) 框架，用于具有翻滚目标的多级自主交会对接 (AR&D)，考虑到几个实际挑战（例如，控制饱和、速度约束和碰撞）避免）在码头启用条件。在第一阶段，设计了全局接近最优和确定性收敛策略，以在几步内将追逐者驱赶到时变视线 (LOS) 区域。所提出的控制器包括一个终端约束，以确保递归的可行性和稳定性。在第二阶段，所提出的控制器是一个周期性的MPC，用于在新颖的框架下进行跟踪，其参考是翻滚目标对接端口的轨迹。该控制器将轨迹规划和控制结合在一个单层中，从而提高了算法的实时性。此外，新颖的 MPC 框架结合了终端约束，保证了闭环系统相对于目标对接端口的轨迹具有递归可行性、安全演化和渐近收敛到最优允许周期轨迹。仿真结果验证了所提控制策略的有效性。并且渐近收敛到关于目标对接端口轨迹的最优允许周期轨迹。仿真结果验证了所提控制策略的有效性。并且渐近收敛到关于目标对接端口轨迹的最优允许周期轨迹。仿真结果验证了所提控制策略的有效性。