Adaptive control of uncertain Hamiltonian Multi-Input Multi-Output systems : With application to spacecraft control

A novel adaptive control law for nonlinear Hamiltonian multi-input multi-output (MIMO) systems with uncertain parameters in the actuator modeling as well as the inertia and/or the Coriolis and centrifugal terms is developed. The physical properties of the Hamiltonian systems are effectively used in the control design and the stability analysis. The number of the parameter estimates is significantly lowered as compared to the conventional adaptive control methods. A smooth projection algorithm is applied to keep the parameter estimates inside a singularity-free region. The developed control scheme is applied for attitude control of a spacecraft with both the inertia and the actuator uncertainties.