Trajectory Tracking Control for an Tethered Space Net Robot

被引：0

作者：

Zhang, Fan ^{[1
]}

Huang, Panfeng ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710072, Shaanxi, Peoples R China

来源：

2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER) | 2018年

基金：

中国国家自然科学基金;

关键词：

SIMULATION; DYNAMICS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

According to the large envelope and easy-capture way, tethered space net robot is known as a feasible plan for space uncooperative target capture. Compared with traditional tethered space net, tethered space net robot has additional maneuverability to undertake complex capture mission. However, the flexible, elastic and underactuated net draw higher demand of the control scheme. In this paper, a novel adaptive control scheme is addressed to figure out the underactuated problem. The maneuverable units can quickly track desired trajectories and restrain the oscillations resulted from flexible net. Both of theoretical derivation and numerical simulation verify the efficiency and speedability of the proposed control scheme

引用

页码：243 / 248

页数：6

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