  A Model Predictive Controller for Tracking is introduced for rendezvous with
non-cooperative tumbling targets in active debris removal applications. The
target's three-dimensional non-periodic rotational dynamics as well as other
state and control constraints are considered. The approach is based on applying
an intermediate coordinate transformation that eliminates the time-dependency
due to rotations in the constraints. The control law is then found as the
solution to a QP problem with linear constraints and dynamics, as derived from
the HCW equations, that provides feasibility and stability guarantees by means
of a terminal LQR and dead-beat region. The proposed control algorithm performs
well in a realistic simulation scenario, namely a near rendezvous with the
Envisat spacecraft.
