Abstract
According to the large envelope and easy-capture way, tethered space net robot is known as a feasible plan for space uncooperative target capture. Compared with traditional tethered space net, tethered space net robot has additional maneuverability to undertake complex capture mission. However, the flexible, elastic and underactuated net draw higher demand of the control scheme. In this paper, a novel adaptive control scheme is addressed to figure out the underactuated problem. The maneuverable units can quickly track desired trajectories and restrain the oscillations resulted from flexible net. Both of theoretical derivation and numerical simulation verify the efficiency and speedability of the proposed control scheme
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