Nope. I have been asking for new commands for a while. I would like to have a "Fortify" command, but I haven't been very lucky.

Ships will self repair anywhere, but they will do so much faster when in orbit on a planet. Repair time varies considerably, but are generally proportional to the number of HP the ship is missing. Repair rates can change due to anomalies, a trade good, etc, but a ship missing 20 points will finish repairing itself twice as fast as one missing 40 points.

Repairs are usually free, but if you have a seriously damaged ship it can often be worthwhile to upgrade it. Build a second design that is essentially the same ship, and upgrade the damaged ship to the alternate design and you get a 1 turn complete repair (upgrae time may vary, depending on where the ship is).

Staying or passing within range of Military Base(s) with the "ship repair" module will also increase such rate -- combat experience is worth accumulating.

I either upgrade or send the ship on very long trips. When the autopilot runs out, check it and send it back. Repeat as necessary. This moves the ship out of position so it can't be used for some time, but if the ship was ready to be used you wouldn't be trying to do something like this.