Table 3.

Selected guidance parameters used during the experiments.

. Parameter	Value
Guidance Algorithm
Guidance re-compute rate	10 s
Maneuver time tf	70 s
Pre-set time tps	60 s
Number of nodes	N1 = 26 and N2 = 20
Convergence threshold	ϵ1,2 are set at 10% of ${}^{[k-1]}{{\displaystyle J}}_{1,2}$
End-effector error to trigger capture	≤5 cm
Post-capture manipulator deceleration period	5 s
Chaser
Chaser base-spacecraft initial position	x = 3.3 m, y = 3.3 m
Manipulator initial configuration	θm(t = 0) = [-80°,-80°,0°]
Manipulator final configuration	θm(tf) = [-60°,60°,0°]
RSO
RSO position	x = 1 m, y = 1.3 m
RSO angular velocity	5 deg/s
Nominal RSO orientation at start of maneuver	-100°
Mock solar panel dimensions	1 × 0.1 m
Main body dimensions	0.4 × 0.4 m