VSOP for exosatellites? (Io, Titan, Ariel, etc)
Yes, there are several I know of for the Galilean moons, less so for other satellites.  One very good place to start is from the same organization that created the VSOP series, now called IMCCE.  Here is a link to their satellite ephemeris.  According to the Explanatory Supplement to the Astronomical Almanac, most of the other moons of Jupiter behave to chaotically to create a similar theory and numerical integration is required to produce accurate results.