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Accurate Dynamics Modeling and Feedback Control for Maneuverable-Net Space Robot

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10464))

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Abstract

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.

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Author information

Authors and Affiliations

  1. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xian, 710072, China

    Yakun Zhao, Panfeng Huang & Fan Zhang

  2. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xian, 710072, China

    Yakun Zhao, Panfeng Huang & Fan Zhang

Authors
  1. Yakun Zhao
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  2. Panfeng Huang
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  3. Fan Zhang
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Corresponding author

Correspondence to Panfeng Huang .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Zhao, Y., Huang, P., Zhang, F. (2017). Accurate Dynamics Modeling and Feedback Control for Maneuverable-Net Space Robot. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_59

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  • DOI: https://doi.org/10.1007/978-3-319-65298-6_59

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65297-9

  • Online ISBN: 978-3-319-65298-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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