Adaptive Dynamic Inversion Control with Actuator Saturati on Constraints Applied to Tracking Spacecraft Maneuvers

This paper presents an adaptive control methodology for non linear plants, that prevents parameter drift arising from trajectory errors due to control saturation. The reference trajectory is modified on saturation, so that the m odified trajectory approximates the original reference closely and can be tracked wit hin saturation limits. The adaptive parameters are updated by the error between the pla nt trajectory and this modified reference. Asymptotic stability of the tracking er rors between the plant trajectory and the modified reference, as well as bounded learni ng of the adaptive parameters, is guaranteed. A numerical example of attitude track ing for a rigid spacecraft is presented.

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