Modeling a Hybrid Control Strategy for Free-Flying Space Manipulator Systems to Tackle Fixed and Moving Targets

This work presents a hybrid control strategy for a free-flying space manipulator system (SMS) designed to handle fixed and moving targets in on-orbit operations. The satellite base uses thrusters for translation and a reaction wheel for attitude stabilization, essential for precise tasks like satellite servicing and debris removal. The system dynamics are derived via the Euler-Lagrange method. A mode-based control framework manages base maneuvering, stabilization, and manipulation phases, each regulated by a PID controller to ensure smooth transitions and coordinated actions. Simulations for fixed and moving targets demonstrate accurate base positioning, attitude control, and successful target capture. The results validate the effectiveness of the proposed method for autonomous and precise manipulation in microgravity, providing a foundation for real-time implementation and extension to three-dimensional tasks.