| Summary: | With the ever growing number of space debris in orbit, the need to prevent further space polution is becoming more and
more apparent. Refueling, servicing, inspections and deorbiting of spacecraft are some examples of On-Orbit Servicing
(OOS) operations that require precise navigation and docking in space. Using multiple, collaborating robots to handle these tasks
can greatly increase the efficiency of the mission in terms of time and cost. This thesis will introduce a modern and
efficient control architecture for satellites on collaborative docking missions. The proposed architecture uses a centralized
scheme that combines state-of-the-art, ad-hoc implementations of algorithms and techniques to maximize robustness and
flexibility. It is based on a Non-linear Model Predictive Controller (NMPC) for which, an efficient cost function and
constraint sets are designed to ensure a safe and accurate docking. A simulation environment is also presented to validate
and test the proposed control scheme. The controller is also tested in a real-world environment using a 2D floating satellite
platform.
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