Guidance Navigation and Control for Autonomous Multiple Spacecraft Assembly: Analysis and Experimentation

Figure 10

LQR Solver Simulink Block [18]. This routine solves the complete algebraic Riccati equation accepting the input matrices: A (dynamics matrix), B (control matrix), C (state-output mapping matrix), D (control-output mapping matrix), and Q and R weighting matrices. The outputs are the LQR gain matrix, K, which is the solution to the associated algebraic Riccati equation, the matrix S, and a two-dimensional vector, E, whose first element indicates an error when it is greater than zero or a somewhat unreliable result when it is negative. The second element of E is the condition number of the R matrix.