自主机动飞网机器人动力学建模与网型保持方法

针对自主机动飞网机器人多系绳编织结构的动力学建模难题，首先提出利用无向图描述飞网机器人的结构，然后依据系绳杨氏模量极大的特点，设计间隙函数和约束反力，基于Hamilton原理建立飞网机器人数学模型，并设计一种基于Lemke算法和龙格库塔积分的解算方法；针对其网型保持问题，设计一种“双层优化伪动态逆内环+变结构控制外环”的控制方法。仿真结果表明，设计的控制器能够有效控制飞网机器人沿指令轨迹运动，并很好保持其网型，避免飞网机器人任务过程的变形和轨道径向移动。

Dynamics Modeling and Shape Keeping of the Maneuverable Net Robot

For the dynamics modeling problem of maneuverable net robots (MNR), firstly an undirected graph is used to describe the MNR. Secondly, interval functions and corresponding constraint forces are designed to represent the tether dynamics of the net. Then, the dynamics model is built based on the Hamilton principle, and a numerical treatment method based on the Lemke algorithm and the Runge Kutta integrator is presented. For its shape keeping problem, a cooperative controller with double layer optimization pseudo dynamic inversion and sliding mode control is designed. The simulation result shows that the cooperative controller can be used to control the MNR motion along the expected trajectory and keep the net shape effectively, and the net deformation and the orbital radial movement are prevented.