Adaptive control for a payload carrying spacecraft with state constraints

In this article, a novel adaptive trajectory tracking controller is designed for payload-carrying spacecraft under full state constraints. The proposed can tackle state-dependent uncertainties without priori knowledge of their structures and upper bounds. ensures time-varying constraints on all states time derivatives. closed-loop stability the scheme verified analytically via Lyapunov method, real-life experiments using robotic testbed validated effectiveness over state-of-the-art.