Robust Adaptive Tracking of Rigid-Body Motion With Applications to Asteroid Proximity Operations
Why this work is in the frame
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Bibliographic record
Abstract
This paper addresses the coupled position- and attitude-tracking control of a rigid spacecraft in the proximity of asteroids, where multiple, complicated, unknown perturbations resulting from highly uncertain environment must be dealt with. Dual quaternions are used to formulate the tracking error dynamics in a compact manner for unified translational and rotational control law design. A robust adaptive control scheme is then developed from an originally model-dependent controller by introducing an adaptive algorithm to dynamically adjust the compensation for perturbations due to parametric uncertainties and external disturbances. The proposed method has a simple structure and is computationally efficient, since it requires no information about the unknown perturbations and involves only two adaptive variables. Numerical simulations for asteroid landing and hovering control are presented to verify the effectiveness of the proposed methods.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it