Development of Optimal Control for a Satellite Emulator on Low-Friction Platform

This thesis presents the modelling and design of a Linear Quadratic Regulator (LQR) controller for the planar motion of a low-friction vehicle (LFV) that emulates a 12-unit CubeSat. The study aims to improve performance and closed-loop stability in a ground-based simulator of spacecraft attitude dynamics. A state-space model of the LFV is developed together with the actuation pipeline, including frame transformations and actuator limits, and is paired with a Kalman filter for state estimation. The control architecture is implemented in MATLAB/Simulink and assessed through simulations, using step and ramp reference tracking. Simulation results indicate accurate tracking, limited overshoot, and a well-behaved control effort, supporting the suitability of optimal control techniques for low-friction, ground-based testbeds.