Dinâmica de gases rarefeitos, controle preditivo e robótica autônoma: arquiteturas de integração eletromecânica para manufatura e montagem no espaço (ISAM)

The transition from space exploration based on monolithic spacecraft to modular architectures requires overcoming severe challenges in robotic dynamics and advanced propulsion. This scientific article investigates the integration of Model Predictive Control (MPC) systems and mass-property simulators in In-Space Assembly and Manufacturing (ISAM) environments. The methodology is based on an analytical-deductive approach, exploring the equations of physical gas dynamics in rarefied flows applied to ion thrusters, as well as the kinematic modeling of electromechanical actuators in microgravity. The study is articulated around seven central axes: the ISAM infrastructure; the mathematical formulation of MPC and LQR control; closed-loop simulation via physics engines (MuJoCo); the analytical expansion of ion plumes; the mechatronic design of sensors and actuators; autonomous navigation based on mapping algorithms; and the strategic impact of these technologies on security and STEM education. The literature and models attest that the continuous variation of the inertia tensor during orbital assembly requires adaptive controllers capable of predicting structural dynamics in real-time. It is concluded that the advancement of space systems engineering depends on the inseparable fusion of plasma physics, autonomous robotics, and computational predictive control.