Shape keeping control of maneuverable tether-net space robots

The maneuverable tether-net space robot (MTNSR) is a promising space robot in the capture of non-cooperative space debris. For its shape keeping problem, a novel dynamic model and a corresponding shape keeping controller are proposed in this paper. The net is modeled by four triangle shells and the tether is modeled using interval functions, firstly. Secondly, the dynamic model is presented based on the Hamilton principle. Then, the shape keeping controller is designed with the double optimization pseudo dynamic inversion and the sliding mode control. Simulation results show that the net deformation and the orbital radial movement are prevented under the controller. The net can move along the expected trajectory and keep the net shape effectively.