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This paper presents the adaptive control problem of manipulator actuated integrated position and attitude stabilization of spacecraft in proximity operations. Towards this end, explicit kinematics and dynamics are formulated for a spacecraft with multiple manipulators, where two vector factorizations are proposed to ensure the skew-symmetric property of the system matrices. In what follows, a reference trajectory adaptive tracking control scheme is designed following backstepping procedure to drive the manipulator motion causing reactions on the spacecraft for the integrated position and attitude stabilization in the presence of unknown kinematic and dynamic parameters. The prescribed reference trajectory is designed by polynomial methods enabling a well-behaviored stabilization performance, and a second-order filter is introduced to estimate the joint acceleration ensuring the control scheme available. Meanwhile, to apply adaptive technique, the explicit-form regressor matrices of manipulator dynamics are derived and the adaptation law is hence designed to update the estimate of unknown system parameters. The closed-loop stability is guaranteed within the Lyapunov framework. At last, numerical simulations are given to demonstrate the effect of the designed adaptive control scheme.

Adaptive Dynamic Control for Manipulator Actuated Integrated Translation and Rotation Stabilization of Spacecraft