Trajectory Tracking Control for an Tethered Space Net Robot

Fan Zhang; Panfeng Huang

doi:10.1109/CYBER.2018.8688203

Trajectory Tracking Control for an Tethered Space Net Robot

Fan Zhang, Panfeng Huang

School of Astronautics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

According to the large envelope and easy-capture way, tethered space net robot is known as a feasible plan for space uncooperative target capture. Compared with traditional tethered space net, tethered space net robot has additional maneuverability to undertake complex capture mission. However, the flexible, elastic and underactuated net draw higher demand of the control scheme. In this paper, a novel adaptive control scheme is addressed to figure out the underactuated problem. The maneuverable units can quickly track desired trajectories and restrain the oscillations resulted from flexible net. Both of theoretical derivation and numerical simulation verify the efficiency and speedability of the proposed control scheme.

Original language	English
Title of host publication	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	243-248
Number of pages	6
ISBN (Electronic)	9781538670569
DOIs	https://doi.org/10.1109/CYBER.2018.8688203
State	Published - 10 Apr 2019
Event	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 - Tianjin, China Duration: 19 Jul 2018 → 23 Jul 2018

Publication series

Name	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

Conference

Conference	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Country/Territory	China
City	Tianjin
Period	19/07/18 → 23/07/18

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10.1109/CYBER.2018.8688203

Cite this

Zhang, F., & Huang, P. (2019). Trajectory Tracking Control for an Tethered Space Net Robot. In 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 (pp. 243-248). Article 8688203 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2018.8688203

Zhang, Fan ; Huang, Panfeng. / Trajectory Tracking Control for an Tethered Space Net Robot. 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 243-248 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

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title = "Trajectory Tracking Control for an Tethered Space Net Robot",

abstract = "According to the large envelope and easy-capture way, tethered space net robot is known as a feasible plan for space uncooperative target capture. Compared with traditional tethered space net, tethered space net robot has additional maneuverability to undertake complex capture mission. However, the flexible, elastic and underactuated net draw higher demand of the control scheme. In this paper, a novel adaptive control scheme is addressed to figure out the underactuated problem. The maneuverable units can quickly track desired trajectories and restrain the oscillations resulted from flexible net. Both of theoretical derivation and numerical simulation verify the efficiency and speedability of the proposed control scheme.",

author = "Fan Zhang and Panfeng Huang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 ; Conference date: 19-07-2018 Through 23-07-2018",

year = "2019",

month = apr,

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doi = "10.1109/CYBER.2018.8688203",

language = "英语",

series = "8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "243--248",

booktitle = "8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018",

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Zhang, F & Huang, P 2019, Trajectory Tracking Control for an Tethered Space Net Robot. in 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018., 8688203, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Institute of Electrical and Electronics Engineers Inc., pp. 243-248, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Tianjin, China, 19/07/18. https://doi.org/10.1109/CYBER.2018.8688203

Trajectory Tracking Control for an Tethered Space Net Robot. / Zhang, Fan ; Huang, Panfeng.
8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 243-248 8688203 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - According to the large envelope and easy-capture way, tethered space net robot is known as a feasible plan for space uncooperative target capture. Compared with traditional tethered space net, tethered space net robot has additional maneuverability to undertake complex capture mission. However, the flexible, elastic and underactuated net draw higher demand of the control scheme. In this paper, a novel adaptive control scheme is addressed to figure out the underactuated problem. The maneuverable units can quickly track desired trajectories and restrain the oscillations resulted from flexible net. Both of theoretical derivation and numerical simulation verify the efficiency and speedability of the proposed control scheme.

AB - According to the large envelope and easy-capture way, tethered space net robot is known as a feasible plan for space uncooperative target capture. Compared with traditional tethered space net, tethered space net robot has additional maneuverability to undertake complex capture mission. However, the flexible, elastic and underactuated net draw higher demand of the control scheme. In this paper, a novel adaptive control scheme is addressed to figure out the underactuated problem. The maneuverable units can quickly track desired trajectories and restrain the oscillations resulted from flexible net. Both of theoretical derivation and numerical simulation verify the efficiency and speedability of the proposed control scheme.

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BT - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 19 July 2018 through 23 July 2018

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Zhang F , Huang P. Trajectory Tracking Control for an Tethered Space Net Robot. In 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 243-248. 8688203. (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018). doi: 10.1109/CYBER.2018.8688203

Trajectory Tracking Control for an Tethered Space Net Robot

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