Centralized/decentralized indirect robust adaptive control for spacecraft attitude and robotics

The diffuse presence of robotic subsystems in new space mission concepts introduces variations and uncertainties in system mass and inertia, imposing stringent constraints to orbital and attitude control. The required performance can be achieved through several paradigms like robust or adaptive controllers and sometimes a combination of the two. In this work, a novel indirect controller, belonging to the robust-adaptive controllers class, is developed, with the core idea of requiring just one adaptive gain with consequent lower sensitivity and easier tunability. The algorithm is developed both in centralized and decentralized formulation and tested for reliability and parameter sensitivity.