OPENTECHNICAL PUBLICATION
OT-2026-000001940

Monolithic autonomous orbital vehicle with hybrid adaptive disturbance compensation

Published: 2026-09-15T19:09:38.925451Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001940
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001940
Published 2026-09-15T19:09:38.925451Z
https://opentechnical.org/p/OT-2026-000001940