Incremental Generalized Policy Iteration for Adaptive Attitude Tracking Control of a Spacecraft
Yifei Li (TU Delft - Aerospace Engineering)
Erik Jan van Kampen (TU Delft - Aerospace Engineering)
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Abstract
This paper proposes a novel dynamic programming algorithm for nonlinear system optimal control problem, namely Incremental Generalized Policy Iteration (IGPI). The proposed IGPI algorithm combines the advantages of Incremental Control(IC) and Generalized Policy Iteration(GPI). Incremental control can handle the nonlinearity and uncertainty in nonlinear systems without knowing the nonlinear system information, GPI can learn an optimal control law for dynamical systems. Based on the proposed IGPI algorithm, a data-driven adaptive attitude controller is designed for a spacecraft with sloshing liquid fuel. Simulation results demonstrate the effectiveness of the spacecraft attitude controller.