Author ORCID Identifier
https://orcid.org/0009-0003-2344-1351
Date Available
12-16-2025
Year of Publication
2025
Document Type
Master's Thesis
Degree Name
Master of Science in Mechanical Engineering (MSME)
College
Engineering
Department/School/Program
Mechanical Engineering
Faculty
Hasan Poonawala
Faculty
Jonathan Wenk
Abstract
Small satellites must execute precise, fuel-limited maneuvers under strict actuation and operational constraints. Model Predictive Control (MPC) is a suitable approach because it optimizes future actions while explicitly enforcing these limits. This work evaluates (1) whether MPC can operate in real time using binary (on/off), asymmetric thrusters, and (2) whether a high-fidelity digital twin can be used to tune and validate the controller prior to hardware testing.
An MPC framework was implemented on a planar satellite prototype that floats on air bearings, operates at 16.7 Hz (60 ms period), and uses eight binary thrusters exhibiting up to 13.2% variation in measured force. A mixed-integer MPC formulation generated optimal on/off thruster sequences to minimize tracking error and propellant use. A corresponding digital twin was developed using matched physical parameters, and the same controller executed an identical mission in simulation and hardware.
Results showed close agreement between the two environments. The system achieved a mean position tracking error of 0.179 m, a final position error of 0.024 m, and a final attitude error of 0.51°. Total thruster-on time differed by only 1.5% over a 200 s trajectory. The solver satisfied the 50 ms real-time deadline in all cycles, with an average solve time of 4.61 ms and a worst-case time of 32.10ms.
Digital Object Identifier (DOI)
https://doi.org/10.13023/etd.2025.583
Funding Information
This thesis was partially supported by grant "NASA KY EPSCOR RIDG-24-003: In-Space Servicing And Assembly With Electromagnetic Small Satellites" and the Department of Mechanical & Aerospace Engineering.
Recommended Citation
Amundinusarson Oefjoerd, Aevar, "SIMULATION-TO-HARDWARE VALIDATION OF MPC FOR BINARY THRUSTER 2D CUBESAT CONTROL" (2025). Theses and Dissertations--Mechanical Engineering. 250.
https://uknowledge.uky.edu/me_etds/250
Supplement_Data
Included in
Acoustics, Dynamics, and Controls Commons, Computer-Aided Engineering and Design Commons, Navigation, Guidance, Control and Dynamics Commons, Propulsion and Power Commons, Systems Engineering and Multidisciplinary Design Optimization Commons
