Contact Dynamics and Control for Tethered Space Net Robot

Maneuverable tethered space net robot (TSNR) is promising for active debris removal due to its flexibility and controllability. However, the contact dynamics of TSNR is not completely understood. Therefore, the contact dynamics is analyzed and the net does not close completely after contact. A super...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE transactions on aerospace and electronic systems Jg. 55; H. 2; S. 918 - 929
Hauptverfasser: Zhao, Yakun, Huang, Panfeng, Zhang, Fan, Meng, Zhongjie
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.04.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Aerodynamics
Aerospace electronics
Contact dynamics
Controllability
Numerical models
Robots
Satellites
Sliding mode control
space debris
Space vehicles
Stability
tethered space net robot (TSNR)
Twisting
ISSN:0018-9251, 1557-9603
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:Maneuverable tethered space net robot (TSNR) is promising for active debris removal due to its flexibility and controllability. However, the contact dynamics of TSNR is not completely understood. Therefore, the contact dynamics is analyzed and the net does not close completely after contact. A super-twisting sliding mode control scheme is designed to make the net completely closed and avoid the risk of tether cut. The efficacy of the controller is validated by simulation results.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2018.2866654