Abstract
Tethered Space Net Robot (TSNR) is considered to be a promising approach for space debris removal, and accordingly it is also an interesting control problem due to its time-varying disturbances caused by an elastic and flexible net and a main connected tether. In this situation, the control scheme should be robust enough, low-frequency, and finite-time convergent in presence of external disturbances. In this paper, a robust controller with an advanced adaptive scheme is proposed. To improve robustness, the disturbance is skillfully involved in the adaptive scheme. It is strictly proven that the closed-loop system can converge to the desired trajectory in finite time in both reaching and sliding processes. Based on the theoretical proof, adaptive gains and corresponding dynamic stability characteristics are further discussed. Finally, the efficiency of the proposed control scheme is numerically proven via a TSNR. The proposed control scheme utilizes small and continuous control forces to compensate for the disturbance efficiently and track the desired trajectory quickly.
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