Our recent work, titled "Model Reference Adaptive Control for Net-Based Debris Towing," is published online in the Journal of Guidance, Control, and Dynamics (JGCD).

In this work, two control algorithms based on model reference adaptive control (MRAC) algorithms were designed to stabilize the fully coupled chaser-tether-net-debris system. The control algorithms are designed to modify the dynamics of the full net-based system so that it behaves similarly to an ideal, stable reference model. Unlike previous studies that relied on simplified models for control synthesis and testing, the present work designs and verifies the control algorithms directly on the full net system model.

Compared to a proportional–integral–derivative control baseline, both MRAC algorithms demonstrate improved transient behavior in a nominal towing scenario and achieve convergence 68% faster. Results from 90 simulations with varying initial debris states, inertial properties, and imperfect measurements show that the proposed algorithms are generally robust across different conditions, enabling the net-based debris removal system to achieve the desired steady and safe behavior in the postcapture phase.

The full paper is available at https://doi.org/10.2514/1.G010031