Manipulators are widely used in orbital operations, for example, Mobile Servicing System on the International Space Station and Shuttle Remote Manipulator System are used for several years. Such manipulators are operated by astronauts and mounted on large platforms, thus influence of manipulator motion on the state of the platform is not significant. Application of manipulators for capture maneuvers in unmanned On-Orbit Servicing or Active Debris Removal missions requires reliable control algorithms that take into account the free-floating nature of the manipulator-equipped spacecraft. In this paper the possibility of using Nonlinear Model Predictive Control (NMPC) for controlling such manipulators is presented. Numerical simulations for a simplified planar case show effectiveness of the proposed controller.

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Series GeoPlanet: Earth and Planetary Sciences
Rybus, T. (Tomasz), Seweryn, K. (Karol), & Sasiadek, J. (2019). Nonlinear model predictive control (NMPC) for free-floating space manipulator. In GeoPlanet: Earth and Planetary Sciences. doi:10.1007/978-3-319-94517-0_2