TY - GEN
T1 - Contact Dynamic Modeling and Control for Tethered Space Net Robot with Asymmetric Net Configuration
AU - Zhao, Yakun
AU - Huang, Panfeng
AU - Zhang, Fan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - As an improved version of tether-net system, Tethered Space Net Robot (TSNR) shows more advantages on active space debris removal. However, the contact dynamics of TSNR and target are still not well understood. Moreover, considering the truth that the symmetric net configuration is hard to achieve, an asymmetric net configuration is studied in this paper. Based on the contact dynamic model of TSNR, the simulations show that the net cannot close to the minimum naturally. In order to successfully capture the target with the asymmetric net configuration, a sliding mode control scheme is designed to close the opening area of the net to the minimum after collision. The simulation results show that the proposed control algorithm can make the net wrap around the target successfully.
AB - As an improved version of tether-net system, Tethered Space Net Robot (TSNR) shows more advantages on active space debris removal. However, the contact dynamics of TSNR and target are still not well understood. Moreover, considering the truth that the symmetric net configuration is hard to achieve, an asymmetric net configuration is studied in this paper. Based on the contact dynamic model of TSNR, the simulations show that the net cannot close to the minimum naturally. In order to successfully capture the target with the asymmetric net configuration, a sliding mode control scheme is designed to close the opening area of the net to the minimum after collision. The simulation results show that the proposed control algorithm can make the net wrap around the target successfully.
UR - http://www.scopus.com/inward/record.url?scp=85084298838&partnerID=8YFLogxK
U2 - 10.1109/CYBER46603.2019.9066534
DO - 10.1109/CYBER46603.2019.9066534
M3 - 会议稿件
AN - SCOPUS:85084298838
T3 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
SP - 683
EP - 688
BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -