Accurate dynamics modeling and feedback control for maneuverable-net space robot

Tethered Space Net (TSN) has been proposed since there is an increasing threat of space debris to spacecraft and astronauts in recent years. In this paper, we propose an improved TSN, named Maneuverable-Net Space Robot (MNSR), which has four maneuvering units in its four corners (square net). The four maneuverable units make the MNSR controllable. Because of autonomous maneuverability, the attitude dynamics of the platform, master tether and flexible net are strongly coupled. In order to design an effective controller to maintain the configuration of the maneuverable net, an accurate dynamics model of MNSR based on the Lagrangian method is derived. In our model, we consider the three-dimensional attitude of the platform, master tether and maneuvering-net as well. Due to the vibration of the in-plane and out-of-plane angles of the net tethers, feedback control is employed for MNSR. The simulation results demonstrate that the proposed control is efficient and suitable for the MNSR system.