This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge that acts as a time-varying client on a space station. Our method couples online set-membership identification with a robust adaptive MPC to enforce safety under bounded disturbances. The controller explicitly balances exploration to excite the system and shrink uncertainty and exploitation to improve control performance through a dual-mode cost. The feasibility of the developed robust adaptive MPC method is also examined through dislodging simulations and hardware experiments in freefall and terrestrial laboratory environments, respectively. In addition, the advantages of our method are shown through comparison experiments with several state-of-the-art control schemes for both accuracy of parameter estimation and control performance.

翻译：本文提出了一种新颖的鲁棒自适应模型预测控制器，用于在轨解锁任务。我们研究了一种轨道解锁场景：服务航天器通过机械臂释放安装在混合铰链上的卡滞且无驱动的太阳能帆板，该铰链在空间站上作为时变客户端。我们的方法将在线集合成员辨识与鲁棒自适应模型预测控制相结合，以确保在有界扰动下的安全性。控制器通过双模式成本函数，明确平衡了激发系统以缩小不确定性的探索行为与提升控制性能的利用行为。所开发的鲁棒自适应模型预测控制方法的可行性，分别通过自由落体环境和地面实验室环境中的解锁仿真与硬件实验进行了验证。此外，通过与多种先进控制方案在参数估计精度和控制性能方面的对比实验，展示了本方法的优势。