Dynamics modeling and shape keeping of the maneuverable net robot

For the dynamics modeling problem of maneuverable net robots (MNR), firstly an undirected graph is used to describe the MNR. Secondly, interval functions and corresponding constraint forces are designed to represent the tether dynamics of the net. Then, the dynamics model is built based on the Hamilton principle, and a numerical treatment method based on the Lemke algorithm and the Runge Kutta integrator is presented. For its shape keeping problem, a cooperative controller with double layer optimization pseudo dynamic inversion and sliding mode control is designed. The simulation result shows that the cooperative controller can be used to control the MNR motion along the expected trajectory and keep the net shape effectively, and the net deformation and the orbital radial movement are prevented.