Shape keeping control of maneuverable tether-net space robots

Zhongjie Meng; Panfeng Huang

doi:10.1109/ROBIO.2014.7090320

Shape keeping control of maneuverable tether-net space robots

Zhongjie Meng, Panfeng Huang

School of Astronautics

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

5 Scopus citations

Abstract

The maneuverable tether-net space robot (MTNSR) is a promising space robot in the capture of non-cooperative space debris. For its shape keeping problem, a novel dynamic model and a corresponding shape keeping controller are proposed in this paper. The net is modeled by four triangle shells and the tether is modeled using interval functions, firstly. Secondly, the dynamic model is presented based on the Hamilton principle. Then, the shape keeping controller is designed with the double optimization pseudo dynamic inversion and the sliding mode control. Simulation results show that the net deformation and the orbital radial movement are prevented under the controller. The net can move along the expected trajectory and keep the net shape effectively.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	136-141
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090320
State	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

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10.1109/ROBIO.2014.7090320

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Meng, Z., & Huang, P. (2014). Shape keeping control of maneuverable tether-net space robots. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 136-141). Article 7090320 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090320

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title = "Shape keeping control of maneuverable tether-net space robots",

abstract = "The maneuverable tether-net space robot (MTNSR) is a promising space robot in the capture of non-cooperative space debris. For its shape keeping problem, a novel dynamic model and a corresponding shape keeping controller are proposed in this paper. The net is modeled by four triangle shells and the tether is modeled using interval functions, firstly. Secondly, the dynamic model is presented based on the Hamilton principle. Then, the shape keeping controller is designed with the double optimization pseudo dynamic inversion and the sliding mode control. Simulation results show that the net deformation and the orbital radial movement are prevented under the controller. The net can move along the expected trajectory and keep the net shape effectively.",

author = "Zhongjie Meng and Panfeng Huang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

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doi = "10.1109/ROBIO.2014.7090320",

language = "英语",

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Meng, Z & Huang, P 2014, Shape keeping control of maneuverable tether-net space robots. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090320, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 136-141, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090320

Shape keeping control of maneuverable tether-net space robots. / Meng, Zhongjie ; Huang, Panfeng.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 136-141 7090320 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

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

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AB - The maneuverable tether-net space robot (MTNSR) is a promising space robot in the capture of non-cooperative space debris. For its shape keeping problem, a novel dynamic model and a corresponding shape keeping controller are proposed in this paper. The net is modeled by four triangle shells and the tether is modeled using interval functions, firstly. Secondly, the dynamic model is presented based on the Hamilton principle. Then, the shape keeping controller is designed with the double optimization pseudo dynamic inversion and the sliding mode control. Simulation results show that the net deformation and the orbital radial movement are prevented under the controller. The net can move along the expected trajectory and keep the net shape effectively.

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Shape keeping control of maneuverable tether-net space robots

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