Control Allocation and Parameter Estimation for Space Manipulation Using Multiple Underactuated Spacecraft
Abstract
Multiple underactuated spacecraft agents can cooperatively manipulate a large target object as a single overactuated system with multiple thrusters and reaction wheels, offering very large workspaces with enhanced robustness and dexterity compared to a single space manipulator. This paper proposes a control allocation method for optimally generating the required net forces and moments, taking into account actuator limits, as well as a distributed parameter estimation method for determining the relative agent positions and angular states using only local noise-corrupted measurements. The control allocation problem is solved via quadratic programming, while each agent performs parameter estimation using a Kalman filter for position and an extended Kalman filter for the angular states. The proposed methods for control allocation and parameter estimation are verified through Monte Carlo simulations.
Fields of Study & Subjects
Space Satellite Systems and Control
Spacecraft Dynamics and Control
Adaptive Control of Nonlinear Systems
Publication details
- Journal / source
- Journal of Guidance Control and Dynamics
- Publisher
- American Institute of Aeronautics and Astronautics (AIAA)
- Volume
- 49
- Issue
- 5
- Pages
- 1445–1458
- Publication date
- 5 February 2026
- Language
- EN