Robust Time-Optimal Model Predictive Control for Rendezvous with a Moving Target

This paper presents a novel control strategy for the problem of minimum-time rendezvous with a moving target, which is relevant to several aerospace applications. The proposed approach leverages tube-based model predictive control techniques to achieve robustness against disturbances and minimize the maneuver time. By suitably adapting the terminal constraints, recursive feasibility of the optimization problem is ensured, while guaranteeing finite-time completion of the rendezvous mission. Simulation studies show that less conservative trajectories are obtained, compared to existing robust predictive control methodologies. The effectiveness of the approach is demonstrated on a simulated rendezvous maneuver with a tumbling body.