Improving CubeSat Attitude Tracking Using MRAC for Reaction Wheel Speed with Self-Balancing Testbed Validation

This paper presents the design and evaluation of a Model Reference Adaptive Controller (MRAC) applied to the speed control of a reaction wheel, aimed at enhancing attitude tracking performance, precision, and stability in the Yaw axis of a 3U CubeSat. The control system was validated on a self-balancing Testbed equipped with sliding masses that automatically correct for inclination, in conjunction with an Air-Bearing system that simulates low-friction space conditions. Attitude control is a critical aspect of satellite operations, especially for small platforms like CubeSats, where constraints on volume, mass, and power require efficient and precise control solutions. The novelty of this work lies in the application of PID-Parameter MRAC to reaction wheel speed control, enabling adaptive real-time adjustments of control parameters to improve attitude tracking accuracy and system stability. Compared to traditional PID controllers, the MRAC-based approach demonstrates significant improvements, particularly in handling dynamic variations and uncertainties typical of the space environment. The effectiveness of the MRAC strategy was validated through a series of experiments on the Testbed, involving a variety of reference signals to thoroughly assess tracking performance and stability. Results highlight the clear advantages of MRAC in optimizing reaction wheel-based attitude control for small satellite systems.