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...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems Vol. 55; no. 2; pp. 918 - 929
Main Authors: Zhao, Yakun, Huang, Panfeng, Zhang, Fan, Meng, Zhongjie
Format: Journal Article
Language:English
Published: New York IEEE 01.04.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
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 Access:Get full text
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Summary: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.
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ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2018.2866654