This paper presents an online linear model predictive control (MPC) framework for slew maneuvers that maintains star-tracker availability during ground-target tracking. The nonlinear rigid-body dynamics and geometric exclusion constraints are analytically linearized about the current state estimate at each control step, yielding a time-varying linear MPC formulation cast as a standard quadratic program (QP). This structure is compatible with established aerospace flight-software practices and offers a computational profile with lower online complexity than comparable nonlinear MPC schemes. The controller incorporates angular-rate, actuator, and star-tracker exclusion constraints over a receding horizon. Performance is assessed in high-fidelity nonlinear model-in-the-loop simulations using NASA's "42" spacecraft dynamics simulator, including a Monte Carlo campaign over varying target geometries and inertia perturbations.
@article{arxiv.2604.00542,
title = {Star-Tracker-Constrained Attitude MPC for CubeSats},
author = {Dominik Beňo and Patrik Valábek and Martin Hromčík and Martin Klaučo},
journal= {arXiv preprint arXiv:2604.00542},
year = {2026}
}