  This paper introduces an innovative guidance and control method for
simultaneously capturing and stabilizing a fast-spinning target satellite, such
as a spin-stabilized satellite, using a spinning-base servicing satellite
equipped with a robotic manipulator, joint locks, and reaction wheels (RWs).
The method involves controlling the RWs of the servicing satellite to replicate
the spinning motion of the target satellite, while locking the manipulator's
joints to achieve spin-matching. This maneuver makes the target stationary with
respect to the rotating frame of the servicing satellite located at its
center-of-mass (CoM), simplifying the robot capture trajectory planning and
eliminating post-capture trajectory planning entirely. In the next phase, the
joints are unlocked, and a coordination controller drives the robotic
manipulator to capture the target satellite while maintaining zero relative
rotation between the servicing and target satellites. The spin stabilization
phase begins after completing the capture phase, where the joints are locked to
form a single tumbling rigid body consisting of the rigidly connected servicing
and target satellites. An optimal controller applies negative control torques
to the RWs to dampen out the tumbling motion of the interconnected satellites
as quickly as possible, subject to the actuation torque limit of the RWs and
the maximum torque exerted by the manipulator's end-effector.
