The recently investigated asso model predictive control (MPC) is applied to the terminal phase of a spacecraft rendezvous and capture mission. The interaction between the cost function and the treatment of minimum impulse bit (MIB) is also investigated. The propellant consumption with asso MPC for the considered scenario is noticeably less than with a conventional quadratic cost and control actions are sparser in time. Propellant consumption and sparsity are competitive with those achieved using a zone-based 1 cost function, whilst requiring fewer decision variables in the optimisation problem than the latter. The asso MPC is demonstrated to meet tighter specifications on control precision, and also avoids the risk of undesirable behaviours often associated with pure 1 stage costs.

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Abstract-In this paper, the feasibility of the altitude control of a seaweed harvester is examined. The harvesting system consists of a vessel and a suspended harvester device, the altitude of which is controlled by a winch. The goal of the control action is to maintain the harvester at a constant altitude with respect to the seabed profile. A control strategy is proposed, including a vessel motion feed-forward action, using a motion reference unit (MRU), and an altitude feedback loop, using a sonar device for altitude measurement.

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