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Space robotics applications, such as Active Space Debris Removal (ASDR),require representative testing before launch. A commonly used approach toemulate the microgravity environment in space is air-bearing based platforms onflat-floors, such as the European Space Agency's Orbital Robotics and GNC Lab(ORGL). This work proposes a control architecture for a floating platform atthe ORGL, equipped with eight solenoid-valve-based thrusters and one reactionwheel. The control architecture consists of two main components: a trajectoryplanner that finds optimal trajectories connecting two states and a trajectoryfollower that follows any physically feasible trajectory. The controller isfirst evaluated within an introduced simulation, achieving a 100 % success rateat finding and following trajectories to the origin within a Monte-Carlo test.Individual trajectories are also successfully followed by the physical system.In this work, we showcase the ability of the controller to reject disturbancesand follow a straight-line trajectory within tens of centimeters.

Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform