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

The figures show the thruster alignment and 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.

The video shows the tracking performance of the controller in no-load and 1 kg load cases. A plot is added to the video to highlight the desired trajectory and actual trajectory.