System Dynamics and Feedforward Control for Tether-Net Space Robot System

A new concept using flexible tether-net system to capture space debris is presented in this paper. Witha mass point assumption the tether-net system dynamic model is established in orbital frame by applyingLagrange Equations. In order to investigate the net in-plane trajectories during after cast, the non-control R-barand V-bar captures are simulated with ignoring the out-of-plane libration, the effect of in-plane libration on thetrajectories of the capture net is demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension is investigated firstly, after that an integrated control scheme isproposed by introduced the thrusters into the system, the nonlinear close-loop dynamics is linearised byfeedforward strategy, the simulation results show that feedforward controllor is effective for in-plane librationdamping and enable the capture net to track an expected trajectory