WITHDRAWN: Spacecraft Six Degrees-of-Freedom Control via Multiple Arm Mounted Thrusters

This paper presents a cascaded control architecture for six-degree-of-freedom spacecraft equipped with thrusters mounted on multi-degree-of-freedom arms. Prescribed hub torques are applied during arm articulation to counteract reaction torques on the spacecraft body. The approach reduces the required number of thrusters and eliminates the need for thrust cancellation strategies common in fixed thruster configurations. The coupled spacecraft–arm dynamics are formulated and used to design feedback control laws for the relative motion, attitude pointing, and joint actuation. The stability and performance of the overall control system are discussed, and numerical simulations demonstrate its ability to achieve full six-degree-of-freedom regulation while highlighting the importance of compensating for arm-induced reaction torques.