Adaptive control for a payload carrying spacecraft with state constraints
Viswa Narayanan Sankaranarayanan, Avijit Banerjee, Sumeet Gajanan Satpute, S. Roy, George Nikolakopoulos
Abstract
In this article, a novel adaptive trajectory tracking controller is designed for a payload-carrying spacecraft under full state constraints. The proposed controller can tackle state-dependent uncertainties without a priori knowledge of their structures and upper bounds. The controller ensures time-varying constraints on all states and their time derivatives. The closed-loop stability of the proposed scheme is verified analytically via the Lyapunov method, and real-life experiments using a robotic testbed validated the effectiveness of the proposed adaptive controller over the state-of-the-art.
Topics & Concepts
Control theory (sociology)Payload (computing)TestbedSpacecraftController (irrigation)Adaptive controlControl engineeringA priori and a posterioriTrajectoryLyapunov functionComputer scienceState (computer science)Stability (learning theory)Lyapunov stabilityEngineeringControl (management)Nonlinear systemArtificial intelligenceAerospace engineeringAlgorithmPhysicsMachine learningAstronomyNetwork packetComputer networkQuantum mechanicsEpistemologyPhilosophyAgronomyBiologyAdaptive Control of Nonlinear SystemsSpace Satellite Systems and ControlSpacecraft Dynamics and Control