Anti-tangle control of tethered space robots using linear motion of tether offset

Wang, Bingheng; Meng, Zhongjie; Jia, Cheng; Huang, Panfeng

doi:10.1016/j.ast.2019.03.060

Cited by 20 publications

(6 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Also, it would be interesting to develop a model‐based controller for tether tugging during the post‐capture phase. We also hope that the discrete numerical formulation presented here can spur the modeling and design of other superlarge flexible space structures such as space satellites, 34,35 space antennas, 36 and space robots 37–39 …”

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Numerical simulation and behavior prediction of a space net system throughout the capture process: Spread, contact, and close

Huang,

Zou,

Pan

et al. 2023

Int Journal of Mech Sys Dyn

View full text Add to dashboard Cite

In this paper, we develop an exhaustive numerical simulator for the dynamic visualization and behavior prediction of the tether‐net system during the whole space debris capture phases, including spread, contact, and close. First of all, to perform its geometrically nonlinear deformation, discrete different geometry theory is applied to model the mechanical response of a flexible net. Based on the discretization of the whole structure into multiple vertexes and lines, the internal force and associated Hession are derived in a closed form to solve a series of nonlinear dynamic equations of motion. The spread and deployment of a packaged net can be realized using this well‐established net solver. Next, a multidimensional incremental potential formulation is selected to achieve the intersection‐free boundary nonlinear contact and collision between the deformable net and rigid debris. Finally, for the closing mechanism analysis, a log‐like barrier functional is derived to achieve the nondeviation condition between the ring–rod linkage system. The continuous log barrier functionals constructed for both the contact model and the linkage system are smooth and differentiable, and, therefore, the nonlinear net capture dynamic system can be efficiently solved through a fully implicit time integrator. Overall, as a demonstration, the whole capture process of a defunct satellite using a hexagon net is simulated through our well‐established numerical framework. We believe that our comprehensive numerical methods could provide new insight into the optimal design of active debris removal systems and promote further development of the online control of tether tugging systems.

show abstract

Section: Discussionmentioning

confidence: 99%

“…We also hope that the discrete numerical formulation presented here can spur the modeling and design of other superlarge flexible space structures such as space satellites, 34,35 space antennas, 36 and space robots. [37][38][39]…”

Section: Discussionmentioning

confidence: 99%

Numerical simulation and behavior prediction of a space net system throughout the capture process: Spread, contact, and close

Huang,

Zou,

Pan

et al. 2023

Int Journal of Mech Sys Dyn

View full text Add to dashboard Cite

show abstract

“…The tether tension Τ ¼ ½ t 1 t 2 t 3 t 4 T is solved by the visco-elastic model, 22 which can be defined as…”

Section: Airship Dynamics Modelmentioning

confidence: 99%

Adaptive fast trajectory tracking control for the airship based on prescribed performance

Meng,

Ma,

Zhang

2024

Proceedings of the Institution of Mechanical Engineers, Part G:

Self Cite

View full text Add to dashboard Cite

A fast trajectory tracking controller is designed for the airship, involving dynamic uncertainties of parameters, capable of guaranteeing the prescribed performance of tracking errors, and fast response of the closed-loop system. To achieve the decoupling of velocity control and attitude control of the airship, a new guidance and control integration framework is proposed first. Then, based on the dynamics model established by the spinor method, the lumped disturbance, caused by unknown aerodynamic parameter uncertainties and exogenous disturbances, is estimated online using a high-order finite-time observer. The control performance, namely, overshoot and steady-state performance of tracking errors, is significantly improved by utilizing the prescribed output performance constraints, while the convergence rate is further enhanced by combining the finite-time convergence property of the fast terminal sliding mode control. Simulation results attest to the effectiveness of the strategy in this paper. Compared with the adaptive fast terminal sliding mode control, the strategy effectively utilizes the capability of the actuator within the allowed range and reduces the convergence time by more than half with similar control inputs.

show abstract

“…Since MPC can handle the constraints of the landing mission, it is widely used in the trajectory of unmanned aerial vehicles (UAVs) [39,40], rockets [41,42] and robots [43,44]. Among them, [44] designed an MPC to solve the problem of point-to-point trajectory planning, thereby controlling the manipulator to catch a thrown tennis ball.…”

Section: Mpc Design For Autonomous Landing Of a Quadrotormentioning

confidence: 99%

Autonomous Landing of a Quadrotor on a Moving Platform via Model Predictive Control

Guo

Tang²,

Wang

et al. 2022

Aerospace

View full text Add to dashboard Cite

Landing on a moving platform is an essential requirement to achieve high-performance autonomous flight with various vehicles, including quadrotors. We propose an efficient and reliable autonomous landing system, based on model predictive control, which can accurately land in the presence of external disturbances. To detect and track the landing marker, a fast two-stage algorithm is introduced in the gimbaled camera, while a model predictive controller with variable sampling time is used to predict and calculate the entire landing trajectory based on the estimated platform information. As the quadrotor approaches the target platform, the sampling time is gradually shortened to feed a re-planning process that perfects the landing trajectory continuously and rapidly, improving the overall accuracy and computing efficiency. At the same time, a cascade incremental nonlinear dynamic inversion control method is adopted to track the planned trajectory and improve robustness against external disturbances. We carried out both simulations and outdoor flight experiments to demonstrate the effectiveness of the proposed landing system. The results show that the quadrotor can land rapidly and accurately even under external disturbance and that the terminal position, speed and attitude satisfy the requirements of a smooth landing mission.

show abstract

Anti-tangle control of tethered space robots using linear motion of tether offset

Cited by 20 publications

References 33 publications

Numerical simulation and behavior prediction of a space net system throughout the capture process: Spread, contact, and close

Numerical simulation and behavior prediction of a space net system throughout the capture process: Spread, contact, and close

Adaptive fast trajectory tracking control for the airship based on prescribed performance

Autonomous Landing of a Quadrotor on a Moving Platform via Model Predictive Control

Contact Info

Product

Resources

About