Adaptive Control of a Hose and Drogue System with Input Nonlinearities and Partial State Constraints

This paper proposes a novel multi-objective controller for the hose and drogue system, to address the input nonlinearities of dead-zone and constraint as well as partial state constraints. Based upon a smooth auxiliary function, a new dead-zone compensation method is developed to offset the unknown dead-zone nonlinearity, and the obtained controller can also deal with the input constraint by employing the Nussbaum-function-based method. Subsequently, based upon a new barrier Lyapunov function and the parameter projection method, the proposed controller can enforce the partial state constraints in the presence of the partial differential characteristics of the hose and drogue system. A simulation example is presented to illustrate the effectiveness of the proposed controller.