Modeling and control of multibody flexible systems with application in complex space mission scenarios

In the context of increasingly complex and articulated space missions, the need for accurate modeling and control of flexible multibody spacecraft has become essental. This thesis addresses the challenges posed by such systems through the development of advanced modeling and control methodologies tailored to space applications. On the modeling side, the work introduces a general and recursive formulation based on Kane’s method, enabling efficient and accurate simulation of multibody spacecraft with both rigid and elastic components. The methodology accommodates complex architectures, including closed kinematic chains and sloshing dynamics, and incorporates flexibility effects using both finite element and modal approaches. Specific attention is devoted to the interaction between structural elasticity and gravitational forces, as well as to the stress stiffening phenomena relevant to large deployable structures. In parallel, the thesis proposes novel nonlinear control strategies for spacecraft attitude and relative orbit dynamics. These feedback laws are designed to enhance performance in terms of convergence speed and actuator efficiency. The control techniques are validated through stability analysis and extensive numerical simulations. The developed methods are systematically applied to a series of mission scenarios of relevant complexity, including: the capture of a rotating uncooperative target by a space manipulator; proximity operations with the Gateway station in cislunar space; attitude maneuvers of large flexible spacecraft; the dynamics analysis of the Copernicus Imaging Microwave Radiometer (CIMR) satellite with a large rotating antenna; and the deployment of a modular space station equipped with telescopic booms. Moreover, a further outcome of this research is the creation of a dedicated multibody simulation tool, developed in collaboration with Thales Alenia Space Italia, capable of handling a wide range of satellite configurations and operational environments. This software enables high-fidelity modeling and supports industrial needs by providing an efficient platform for mission analysis and control design.