Time-Varying Formation Planning and Scaling Control for Tethered Space Net Robot

The capture for space debris by tethered space net robot (TSNR) is formulized as a time-varying formation tracking problem with scaling size. To ensure a successful capture, the contact dynamics, capture configuration optimization and scaling formation tracking control are investigated in this paper...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems Vol. 59; no. 5; pp. 1 - 12
Main Authors: Liu, Ya, Ma, Zhuochen, Zhang, Fan, Huang, Panfeng
Format: Journal Article
Language:English
Published: New York IEEE 01.10.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Aerospace electronics
Algorithms
Collision avoidance
Configurations
Contact dynamics
Control algorithms
Control theory
Convexity
Heuristic algorithms
Image edge detection
Manganese
Optimization
Robots
Scaling factors
sequential convex programming
Space debris
space debris capture
tethered space net robot
time-varying formation control
Tracking control
Tracking problem
ISSN:0018-9251, 1557-9603
Online Access:Get full text
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Summary:The capture for space debris by tethered space net robot (TSNR) is formulized as a time-varying formation tracking problem with scaling size. To ensure a successful capture, the contact dynamics, capture configuration optimization and scaling formation tracking control are investigated in this paper. Different from existing research, a more realistic space debris with a complex shape is involved to gain understanding of contact dynamics. Moreover, the design of size scaling wrap configuration of the TSNR during capture is converted to an approximate path planning problem solved by sequential convex programming. Additionally, a formation scaling factor is introduced to regulate the opening area of the TSNR to guarantee a successful net capture. Considering the case that the desired size scaling factor of the formation is known only by one maneuvering unit, an observer based time-varying formation tracking control algorithm is proposed. Finally, the effectiveness of the planning and control strategy for capturing space debris through TSNR are demonstrated.
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ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2023.3276742