Swarm Intelligence and Cooperative Control

Trajectory planning and control for space rendezvous with non-cooperative targets in line-of-sight coordinate system

  • Kaikai DONG ,
  • Jiale WANG ,
  • Pengjin SHANG ,
  • Maozhang ZHENG ,
  • Zhiyu NI
Expand
  • 1.College of Aerospace Engineering,Shenyang Aerospace University,Shenyang 110136,China
    2.Sino-German School of Robotics,Shenzhen University of Information Technology,Shenzhen 518172,China

Received date: 2025-10-31

  Revised date: 2025-11-03

  Accepted date: 2025-12-19

  Online published: 2026-01-09

Supported by

Basic Science Center Project of National Natural Science Foundation of China(62388101);Liaoning Province Natural Science Foundation(2024-BS-153);Shenzhen University of Information Technology, Research Startup Program for Doctoral and Master’ s Degree-holding Faculty(SZIIT2024KJ017)

Abstract

To address the multi-constraint autonomous rendezvous problem for maneuvering non-cooperative space targets, this paper proposes a trajectory planning and control method in the Line-of-Sight (LOS) coordinate frame of the chaser spacecraft, which integrates a genetic algorithm with Linear Time-Varying Model Predictive Control (LTV-MPC). The proposed method overcomes the limitations of conventional controllers designed in the Local Vertical Local Horizontal (LVLH) frame for rendezvous missions with maneuvering non-cooperative targets, while avoiding navigation coordinate transformation errors. First, a relative motion dynamic model between the non-cooperative target and the chaser spacecraft is established in the chaser’s LOS coordinate frame. Then, taking full account of multiple constraints including dynamics, control saturation and safety constraints, an optimization model is constructed with a fuel-optimal performance index. The model is solved using a genetic algorithm, taking advantage of its global convergence and strong constraint-handling ability, to obtain the optimal nominal trajectory. Finally, benefiting from its advantages in conveniently handling multiple constraints and uncertainties, an LTV-MPC-based closed-loop tracking controller is designed to track the aforementioned nominal trajectory. Numerical simulations show that the designed trajectory satisfies complex engineering constraints including control, dynamics and safety, and is fuel-optimal, controllable and achievable. In addition, the controller exhibits favorable control accuracy and robustness in the presence of uncertainties, providing an effective solution to the rendezvous problem with maneuvering non-cooperative space targets.

Cite this article

Kaikai DONG , Jiale WANG , Pengjin SHANG , Maozhang ZHENG , Zhiyu NI . Trajectory planning and control for space rendezvous with non-cooperative targets in line-of-sight coordinate system[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2026 , 47(S1) : 733005 -733005 . DOI: 10.7527/S1000-6893.2025.33005

References

[1] HENSHAW C G, GLASSNER S, NAASZ B, et al. Grappling spacecraft[J]. Annual Review of Control, Robotics, and Autonomous Systems20225: 137-159.
[2] 魏才盛, 罗建军, 殷泽阳. 航天器姿态预设性能控制方法综述[J]. 宇航学报201940(10): 1167-1176.
  WEI C S, LUO J J, YIN Z Y. A review of prescribed performance control for spacecraft attitude[J]. Journal of Astronautics201940(10): 1167-1176 (in Chinese).
[3] 岳承磊, 汪雪川, 岳晓奎, 等. 基于逆强化学习的航天器交会对接方法[J]. 航空学报202344(19): 328420.
  YUE C L, WANG X C, YUE X K, et al. A spacecraft rendezvous and docking method based on inverse reinforcement learning[J]. Acta Aeronautica et Astronautica Sinica202344(19): 328420 (in Chinese).
[4] CHAI R Q, SAVVARIS A, TSOURDOS A, et al. A review of optimization techniques in spacecraft flight trajectory design[J]. Progress in Aerospace Sciences2019109: 100543.
[5] 罗淑贞, 孙青林, 檀盼龙, 等. 基于高斯伪谱法的翼伞系统复杂多约束轨迹规划[J]. 航空学报201738(3): 320363.
  LUO S Z, SUN Q L, TAN P L, et al. Trajectory planning of parafoil system with intricate constraints based on Gauss pseudo-spectral method[J]. Acta Aeronautica et Astronautica Sinica201738(3): 320363 (in Chinese).
[6] XU Z Y, CHEN Y K, XU Z X. Optimal guidance and collision avoidance for docking with the rotating target spacecraft[J]. Advances in Space Research201963(10): 3223-3234.
[7] JIANG X Q, LI S, FURFARO R. Integrated guidance for Mars entry and powered descent using reinforcement learning and pseudospectral method[J]. Acta Astronautica2019163: 114-129.
[8] LIU X F, LU P, PAN B F. Survey of convex optimization for aerospace applications[J]. Astrodynamics20171(1): 23-40.
[9] ZHOU D, ZHANG Y Q, LI S L. Receding horizon guidance and control using sequential convex programming for spacecraft 6-DOF close proximity[J]. Aerospace Science and Technology201987: 459-477.
[10] MALYUTA D, YU Y, ELANGO P, et al. Advances in trajectory optimization for space vehicle control[J]. Annual Reviews in Control202152: 282-315.
[11] 许丹丹, 张进. 基于改进人工势函数的航天器近距离安全控制方法[J]. 力学学报202052(6): 1581-1589.
  XU D D, ZHANG J. A collision-avoidance control algorithm for spacecraft proximity operations based on improved artificial potential function[J]. Chinese Journal of Theoretical and Applied Mechanics202052(6): 1581-1589 (in Chinese).
[12] 耿远卓, 李传江, 郭延宁, 等. 单推力航天器交会对接轨迹规划及跟踪控制[J]. 航空学报202041(9): 323880.
  GENG Y Z, LI C J, GUO Y N, et al. Rendezvous and docking of spacecraft with single thruster: Path planning and tracking control[J]. Acta Aeronautica et Astronautica Sinica202041(9): 323880 (in Chinese).
[13] WILDE M, CIARCIà M, GROMPONE A, et al. Experimental characterization of inverse dynamics guidance in docking with a rotating target[J]. Journal of Guidance, Control, and Dynamics201639(6): 1173-1187.
[14] EREN U, PRACH A, KO?ER B B, et al. Model predictive control in aerospace systems: current state and opportunities[J]. Journal of Guidance, Control, and Dynamics201740(7): 1541-1566.
[15] 董凯凯, 罗建军, 马卫华, 等. 非合作目标交会的双层MPC全局轨迹规划控制[J]. 航空学报202142(11): 524903.
  DONG K K, LUO J J, MA W H, et al. Global trajectory planning and control of rendezvous of non-cooperative targets based on double-layer MPC[J]. Acta Aeronautica et Astronautica Sinica202142(11): 524903 (in Chinese).
[16] DI CAIRANO S, PARK H, KOLMANOVSKY I. Model predictive control approach for guidance of spacecraft rendezvous and proximity maneuvering[J]. International Journal of Robust and Nonlinear Control201222(12): 1398-1427.
[17] LEOMANNI M, QUARTULLO R, BIANCHINI G, et al. Variable-horizon guidance for autonomous rendezvous and docking to a tumbling target[J]. Journal of Guidance, Control, and Dynamics202245(5): 846-858.
[18] MAMMARELLA M, CAPELLO E, PARK H, et al. Tube-based robust model predictive control for spacecraft proximity operations in the presence of persistent disturbance[J]. Aerospace Science and Technology201877: 585-594.
[19] OESTREICH C E, LINARES R, GONDHALEKAR R. Tube-based model predictive control with uncertainty identification for autonomous spacecraft maneuvers[J]. Journal of Guidance, Control, and Dynamics202246(1): 6-20.
[20] SPECHT C, BISHNOI A, LAMPARIELLO R. Autonomous spacecraft rendezvous using tube-based model predictive control: Design and application[J]. Journal of Guidance, Control, and Dynamics202346(7): 1243-1261.
Outlines

/