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首页> 外文期刊>Journal of guidance, control, and dynamics >Constrained Autonomous Precision Landing via Dual Quaternions and Model Predictive Control
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Constrained Autonomous Precision Landing via Dual Quaternions and Model Predictive Control

机译：通过双四元数和模型预测控制约束的自主精确着陆

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摘要

The problem of powered descent guidance and control for autonomous precision landing for next-generation planetary missions is addressed. The precision landing algorithm aims to trace a fuel-optimal trajectory while keeping geometrical constraints such as the line of sight to the target site. The design of an autonomous control algorithm managing such mission scenarios is challenging due to fact that critical geometrical constraints are coupled with the translational and rotational motions of the lander spacecraft, leading to a complex motion-planning problem. This problem is approached within the model predictive control framework by representing the dynamics of the rigid body in a uniform gravity field via a piecewise affine system taking advantage of the unit dual-quaternion parameterization. Such a parameterization in turn enables a six-degree-of-freedom motion planning in a unified framework while also admitting a quadratic cost on the required control commands to minimize propellant consumption. A novel feature of the proposed approach is the development of convex representable subsets in the configuration space in terms of unit dual quaternions. The stability and reachability issues of the corresponding piecewise affine model predictive control approach are then discussed. Numerical simulations are presented to demonstrate the effectiveness of the proposed methodology for autonomous precision landing.
机译：解决了用于下一代行星飞行任务的自主精确着陆的动力下降制导和控制问题。精确着陆算法旨在跟踪燃料最优轨迹，同时保持几何约束，例如到目标站点的视线。由于这样的事实，即关键的几何约束与着陆器航天器的平移和旋转运动相结合，导致了一个复杂的运动计划问题，因此管理此类任务情景的自主控制算法的设计具有挑战性。通过使用单位双四元数参数化的分段仿射系统在均匀重力场中表示刚体的动力学，可以在模型预测控制框架内解决此问题。这样的参数化又可以在统一框架中进行六自由度运动计划，同时还允许所需控制命令的二次成本最小化推进剂消耗。所提出的方法的一个新颖特征是根据单位双四元数在配置空间中凸可表示子集的发展。然后讨论了相应的分段仿射模型预测控制方法的稳定性和可及性问题。数值模拟表明了提出的方法对自主精确着陆的有效性。

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