Tethered Space Net Robot (TSNR) is proposed as a hopeful solution for space debris capturing. An unideal case of net capture is studied in this paper, in which the net does not contact the target in the center of the net. For this case, the net cannot naturally close to wrap around the target completely after collision due to the asymmetric net configuration. Therefore, an integral adaptive Super-Twisting sliding mode control (IASTSMC) is designed to close the net. The control algorithm consists of a nonlinear integral sliding surface and adaptive Super-Twisting sliding mode control (ASTSMC), which not only has the property of “saturate the large error, magnify the small error”, but also provides a positive chattering alleviation effect. Compared with the nonlinear integral sliding mode control (ISMC) with equivalent control technique and the original Super-Twisting algorithm (STA), the proposed control method shows a better performance to close the net in this unideal case.

提出了系留空间网络机器人（TSNR），作为一种希望的空间碎片捕获解决方案。本文研究了一种不理想的网络捕获情况，其中网络不与网络中心的目标接触。对于这种情况，由于不对称的网络配置，网络在碰撞后自然无法完全闭合以完全围绕目标包裹。因此，设计了一个集成的自适应超扭曲滑模控制（IASTSMC）来封闭网络。该控制算法由非线性整体滑动面和自适应超扭曲滑模控制（ASTSMC）组成，不仅具有“饱和大误差，放大小误差”的特性，而且具有积极的抖振效果。