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: This technology described a technique for spacecraft maneuver planning that uses positively-invariant sets in order to avoid collisions with debris, while adhering to specified thrust limits. The approach is based on hopping between neighborhoods of equilibria in a virtual net, and maintaining the spacecraft trajectory within a tube formed by safe positively-invariant sets. For the case where thrust limits can be specified as polyhedral norm bounds, we have shown that the thrust limit on the growth distance can be easily computed; it is, in fact, feasible to perform these computations onboard a spacecraft in order to account for thruster failure or degradation. We described an extension in the presence of moving debris using contractive constraint admissible sets in order to avoid collisions. Lastly, we illustrated that the approach can be extended to include unmeasured bounded disturbances.

Spacecraft Debris Avoidance Using Positively Invariant Constraint Admissible Sets