Hierarchical Task-Priority Tracking Control in Space Robots
Pietro BRUSCHI, Davide INVERNIZZI
Abstract. This paper extends a previously developed task-priority control algorithm for space robots to higher task dimensions, such that no degrees of freedom remain uncontrolled. The proposed design adopts an inner–outer loop paradigm and leverages a hierarchical formulation of the imposed tasks. This structure ensures modularity, robustness to singularities, and safe task execution in complex space operations.
Keywords
Hierarchical Control, Space Robotics, GNC
Published online 7/20/2026, 6 pages
Copyright © 2026 by the author(s)
Published under license by Materials Research Forum LLC., Millersville PA, USA
Citation: Pietro BRUSCHI, Davide INVERNIZZI, Hierarchical Task-Priority Tracking Control in Space Robots, Materials Research Proceedings, Vol. 69, pp 885-890, 2026
DOI: https://doi.org/10.21741/9781644904251-156
The article was published as article 156 of the book CEAS – AIDAA Conference 2025
Content from this work may be used under the terms of the Creative Commons Attribution 3.0 license. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.
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