Dual Quaternion Based Close Proximity Operation for In-Orbit Assembly via Model Predictive Control

Table 4

Cost comparison according to the prediction horizons.

Prediction horizons	Translational cost	Rotational cost	Convergence time
	949.9	12.34	129
	886.8	11.7	125
	875.4	13.61	137
	904.4	15.29	143
	967.9	16.85	148
	1045	18.21	152
	1107	20.81	158
	1225	30.65	214