Docking algorithm for flexible microsatellite mock-ups on planar air-bearing test-bench

A motion control algorithm for microsatellite mock-up with flexible rods docking with noncooperative target on the air table is proposed in the paper. A linear motion model of the mock-up with flexible rods is developed. The state vector of the mock-up body and flexible rod is estimated by the extended Kalman Filter using the visual-based navigation system measurements. The results of the experimental study of the developed algorithms are presented.