Structured model reference adaptive control for vision based spacecraft rendezvous and docking
Additional Document Info
A structured model reference adaptive control law has been developed for vision based spacecraft rendezvous and docking problem. A highly accurate relative motion of chaser spacecraft can be estimated by processing the reliable high bandwidth measurements of newly developed VISNAV sensor through a nonlinear geometric estimation process. The adaptive control law formulation is based upon the Lyapunov's direct stability theorem and imposes the exact kinematic equations at velocity level while taking care of model uncertainties and disturbances at acceleration level. The essential ideas and results from computer simulations are presented to illustrate the algorithm developed in paper.