Model-free Adaptive Attitude Control for Combined Spacecraft with Input Saturation and Prescribed Performance

This paper develops a model-free adaptive attitude controller for combined spacecraft with prescribed performance under input saturation. Firstly, the attitude kinematics and dynamics of the combined spacecraft consists of a rigid service spacecraft, a rigid target spacecraft, and a rigid manipulator are introduced to generate input/output data. Then, a multi-input multi-output (MIMO) data-driven model is established by the compact-form dynamical linearization (CFDL) method. Further-more, a sliding mode function is used to construct a model-free adaptive controller with prescribed performance, containing an anti-windup compensator to compensate input saturation. Finally, the numerical simulations demonstrate the proposed method.