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This work develops a first Model Predictive Control for European SpaceAgencies 3-dof free-floating platform. The challenges of the platform are theon/off thrusters, which cannot be actuated continuously and which are subjectto certain timing constraints. This work compares penalty-term, LinearComplementarity Constraints, and classical Mixed Integer formulations in orderto develop a controller that natively handles binary inputs. Furthermore,linear constraints are proposed which enforce the timing constraints. Only theMixed Integer formulation turns out to work sufficiently. Hence, this workdevelops a new Mixed Integer MPC on the decoupled model of the platform.Feasibility analysis and simulation results show that for a short enoughprediction horizon, this controller can (sub)optimally stabilize and controlthe system under consideration of the constraints in real-time.

Linear Model Predictive Control for a planar free-floating platform: A comparison of binary input constraint formulations