  With the increasing interest in proximity and docking operations, there is a
growing interest in spacecraft relative motion control. This paper extends a
previously proposed constrained relative motion approach based on chained
positively invariant sets to the case where the spacecraft dynamics are
controlled using output feedback on noisy measurements and are subject to
stochastic disturbances. It is shown that non-convex polyhedral exclusion zone
constraints can be handled. The methodology consists of a virtual net of static
equilibria nodes in the Clohessy-Wiltshire-Hill frame. Connectivity between
nodes is determined through the use of chance-constrained admissible sets,
guaranteeing that constraints are met with a specified probability.
