Output-Based Model Reference Adaptive Control of Satellite Manipulator

Saliha Köprücü; İbrahim Mizrak; Hasan Hüseyin Bilgiç

doi:10.23890/IJAST.vm07is02.0205

Output-Based Model Reference Adaptive Control of Satellite Manipulator

Abstract

The limited availability of energy resources in space implementations requires the use of low-power and low-capacity actuators in satellite manipulators. This constraint makes it necessary to employ the manipulator structure to be lightweight in order to maintain task performance; however, the resulting increase in structural flexibility makes position control and vibration suppression problems more challenging. This study aims to enhance system performance in the position control problem of a flexible-link satellite manipulator and evaluate control performance under the influence of flexible dynamics while suppressing vibrations indirectly. In this context, Cascade PID control and Model Reference Adaptive Control (MRAC) structures are comparatively investigated, and their performances are analyzed in a simulation environment. The results show that MRAC-based control structure achieves higher tracking accuracy and more effective vibration suppression under the presence of system uncertainties and flexible dynamics, while both control methods provide stable tracking performance. This study represents a comparative evaluation of MRAC-based and Cascade PID control methods for lightweight and flexible manipulator systems used in energy-constrained space missions, and it reveals that MRAC-based control strategies offer a robust and practical solution for such systems.

Keywords

References

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Details

Primary Language

English

Subjects

Aircraft Performance and Flight Control Systems

Journal Section

Research Article

Authors

Saliha Köprücü
0009-0007-9685-0008
Türkiye

İbrahim Mizrak
0009-0008-7509-7974
Türkiye

Hasan Hüseyin Bilgiç ^*
0000-0001-6006-8056
Türkiye

Early Pub Date

October 2, 2026

Publication Date

-

Submission Date

February 17, 2026

Acceptance Date

September 9, 2026

Published in Issue

Year 2026 Number: Advanced Online Publication

DOI

https://doi.org/10.23890/IJAST.vm07is02.0205

IZ

https://izlik.org/JA26SD94RH

Cite

RIS / Bibtex

APA

Köprücü, S., Mizrak, İ., & Bilgiç, H. H. (2026). Output-Based Model Reference Adaptive Control of Satellite Manipulator. International Journal of Aviation Science and Technology, Advanced Online Publication, 118-127. https://doi.org/10.23890/IJAST.vm07is02.0205

AMA

1.Köprücü S, Mizrak İ, Bilgiç HH. Output-Based Model Reference Adaptive Control of Satellite Manipulator. IJAST. 2026;(Advanced Online Publication):118-127. doi:10.23890/IJAST.vm07is02.0205

Chicago

Köprücü, Saliha, İbrahim Mizrak, and Hasan Hüseyin Bilgiç. 2026. “Output-Based Model Reference Adaptive Control of Satellite Manipulator”. International Journal of Aviation Science and Technology, no. Advanced Online Publication: 118-27. https://doi.org/10.23890/IJAST.vm07is02.0205.

EndNote

Köprücü S, Mizrak İ, Bilgiç HH (October 1, 2026) Output-Based Model Reference Adaptive Control of Satellite Manipulator. International Journal of Aviation Science and Technology Advanced Online Publication 118–127.

IEEE

[1]S. Köprücü, İ. Mizrak, and H. H. Bilgiç, “Output-Based Model Reference Adaptive Control of Satellite Manipulator”, IJAST, no. Advanced Online Publication, pp. 118–127, Oct. 2026, doi: 10.23890/IJAST.vm07is02.0205.

ISNAD

Köprücü, Saliha - Mizrak, İbrahim - Bilgiç, Hasan Hüseyin. “Output-Based Model Reference Adaptive Control of Satellite Manipulator”. International Journal of Aviation Science and Technology. Advanced Online Publication (October 1, 2026): 118-127. https://doi.org/10.23890/IJAST.vm07is02.0205.

JAMA

1.Köprücü S, Mizrak İ, Bilgiç HH. Output-Based Model Reference Adaptive Control of Satellite Manipulator. IJAST. 2026;:118–127.

MLA

Köprücü, Saliha, et al. “Output-Based Model Reference Adaptive Control of Satellite Manipulator”. International Journal of Aviation Science and Technology, no. Advanced Online Publication, Oct. 2026, pp. 118-27, doi:10.23890/IJAST.vm07is02.0205.

Vancouver

1.Saliha Köprücü, İbrahim Mizrak, Hasan Hüseyin Bilgiç. Output-Based Model Reference Adaptive Control of Satellite Manipulator. IJAST. 2026 Oct. 1;(Advanced Online Publication):118-27. doi:10.23890/IJAST.vm07is02.0205