Table 1
Simulation parameters

	Parameter		Value
	Sampling time		1 sec
	Initial range		10 m
	Range threshold		1 m
Chaser	Mass		10 kg
	Moment of inertia (MOI)		[0.091, 0, 0; 0, 0.121, 0; 0, 0, 0.044]
	Angular velocity		2 deg/s for each axis
	Initial quaternion (w.r.t. inertia)		[0.9515 0.0381 0.1893 0.2393]
	Docking port location		0.1 m in x-axis of body frame
Target	Initial orbit state (w.r.t. inertia)		[6828447 0 0 3.96 4745 5987] m, m/s
	Mass		10 kg
	Docking port location		–0.1 m in x-axis of body frame
Controller	MPC	N	50
		Q	[3 × 10–5 , 10–3 , 10–3, 1, 1, 1]
		R	[0.5 × 10–2, 0.1 × 10–2, 0.1 × 10–2]
	PD	Natural frequency	0.0026
		Damping ratio	1.78
Simulation setup	Final position and velocity		[0 0 0] m, [0 0 0] m/s
	Simulation time		5,000 sec

PD, proportional-derivative.