---
publication_id: "OT-2026-000001940"
title: "Monolithic autonomous orbital vehicle with hybrid adaptive disturbance compensation"
published_at: "2026-09-15T19:09:38.925451Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001940"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/161"
  - "b64g1/247"
  - "b64g1/247"
  - "b25j9/16"
  - "b25j9/161"
  - "b25j9/161"
---

# Monolithic autonomous orbital vehicle with hybrid adaptive disturbance compensation

## Abstract

A system and method for a monolithic autonomous orbital vehicle enables proactive, integrated self-maintenance. A novel hybrid dual-loop control architecture provides robust stability against both predictable and unmodeled disturbances (e.g., propellant slosh). A baseline feed-forward loop cancels predictable disturbances from robotic motion. Concurrently, an adaptive feed-forward loop processes a “residual attitude error” using a prognostic-informed module, such as a Model Predictive Control (MPC) optimizer or Reinforcement Learning (RL) policy. This module receives Remaining Useful Life (RUL) estimates from a health system that detects incipient faults. The module generates a holistically optimized corrective command. A final combined command, summing the baseline and corrective commands, ensures high-precision stability during self-repair by simultaneously satisfying dynamic, health-informed constraints based on the RUL estimates.