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

Ya Liu, Zhuochen Ma, Fan Zhang, Panfeng Huang

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

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 article. 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. In addition, 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.

Original languageEnglish
Pages (from-to)6717-6728
Number of pages12
JournalIEEE Transactions on Aerospace and Electronic Systems
Volume59
Issue number5
DOIs
StatePublished - 1 Oct 2023

Keywords

  • Contact dynamics
  • sequential convex programming (SCP)
  • space debris capture
  • tethered space net robot (TSNR)
  • time-varying formation control

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