We study VGT (variable geometry truss) that is one of intelligent adaptive structures. It controls truss type mechanism set actuators and sensors with mounted processor, and can achieve various missions. We try to apply VGT to a long and massive manipulator and a docking mechanism. We consider how to control it based on the feature that is a redundant system with a lot of actuators and a geometrical closed-loop system. We have concretely proposed the calculation algorithm of inverse dynamics for the system with the geometrical closed-loop, the dynamics control to use redundancy, and the force control guaranteeing the joint friction. Furthermore we have integrated element technologies of Image measurement with the developed experimental model of rendezvous docking on the ground, and have succeeded in the autonomous soft docking experiment.