Abstract: A modular anti-unwinding dynamic scaling–based immersion and invariance (I&I) adaptive control is devised for rigid spacecraft attitude with inertia uncertainties. It is shown that the parametric regressor matrix cannot ...

Abstract: This paper proposed an observer-based output feedback tracking controller with output constraints for the rigid-link flexible-joint space manipulator system considering the dynamic damping caused by the torque change. By ...

Abstract: For precise attitude control of space robots intended to capture a target, the inertial parameters of the target need to be well estimated because the motions of arms and bases are coupled. This paper presents a momentum-based, ...