Adaptive State-Dependent Riccati Equation Attitude Control for Rotation-Flying Dual-Arm Manipulators

Effective base orientation control is crucial for various on-orbit operations, including servicing, repair, and maintenance. In scenarios where the system attitude is controlled independently of the manipulator(s), such as in tele-manipulation tasks, it is imperative to stabilize the camera field of view. This study presents a state-dependent Riccati equation (SDRE) adaptive optimal control aimed at managing the base attitude in a space manipulator system. The adaptive mechanism is based on automatically adjusting the input weighting coefficients using the attitude-related sub-portion of the generalized inertia matrix. Additionally, the study employs an online numerical method to compute the state-dependent coefficients parametrization. The simulation results clearly demonstrate the effectiveness of the proposed attitude control strategy in comparison to a scenario with inactive orientation control and against a benchmark proportional-derivative (PD) control.