State Constrained Controller for Docking of a Payload-carrying Space Robot

The figures show the additional test cases carried out along with the one mentioned in the paper. The parameters are tuned for the no-payload case and tested with 5kg and 1kg payloads. A detailed explanation of the 5kg payload case is provided in the paper. In these figures, one would find the tracking performance of the controller with no payload and 1 kg payload, compared to the 5 kg payload case. Further, the 1 kg payload is placed at an offset position from the robot's center of mass to create an asymmetry in the inertia.