Abstract
This article elaborates on the tension control design of tethered space robots for debris removal. The novel approach is to change the tether natural length via a reel. With only the tension sensing, we leverage a Kalman filter and a recursive least-squares algorithm to estimate the actual length and the debris mass, which are fed back to a model-predictive controller to generate the optimal tangential velocity of the reel. Simulations show that the stiff tether exhibits better tension-tracking performance which is robust to the tumbling debris.
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