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arXiv · 2509.22955

A Hierarchical Control Architecture for Space Robots in On-Orbit Servicing Operations

Pietro Bruschi
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Abstract

In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in space. A simulation environment is developed, incorporating sloshing dynamics of the chaser, a rarely studied effect in space robotics. The proposed controller combines an inner Lyapunov-based robust control loop for multi-body dynamics with an outer loop addressing an extended inverse kinematics problem. Simulation results show improved robustness and adaptability compared to existing control schemes.

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BibTeXRIS

Pietro Bruschi. 2025-09-26. A Hierarchical Control Architecture for Space Robots in On-Orbit Servicing Operations. https://arxiv.org/abs/2509.22955

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