A manifold model predictive controller for agile pose trajectory tracking of an orbital space robot

Shuai Wang, Haiyan Hu, Ju Chen, Xiaodong Song, Qiang Tian, MOE Key Laboratory of Dynamics and Control of Flight Vehicle, School of Aerospace Engineering, Beijing Institute of Technology, State Key Laboratory of Environment Characteristics and Effects for Near-Space, Beijing Institute of Technology

The International Journal of Robotics Research

Published online on March 27, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
The control of an orbital space robot is challenging due to the strong nonlinear dynamic coupling between the floating base spacecraft and the equipped manipulator. To address this problem effectively, this paper develops a geometric control framework by ...