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Adaptive guidance and control of uncertain lunar landers in terminal landing phases

机译：终端着陆阶段不确定农历兰德的自适应指导与控制

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摘要

A novel double-loop guidance and control strategy for under-actuated lunar landers in terminal landing phases is developed by using adaptive nonlinear control approach in this study. To derive the main thrust input and inner-loop desired attitude trajectory, the outer-loop position tracking guidance law is firstly developed based on the hyperbolic tangent functions to guarantee the constrained thrust and singularity avoidance of the desired attitudes. Then, to avoid the complicated analytic-derivative computing of the desired attitude trajectory, a stable second-order filter is employed to generate the command attitude trajectory for the inner-loop attitude motion. Finally, an adaptive attitude tracking controller is designed by combining the barrier Lyapunove function and the backstepping technique to get rid of the singularities of the Euler angles-based attitude kinematic Jacobian matrix. In addition, tuning rules for designing parameters in guidance law and attitude controller are derived based on the Lyapunov analysis, and the pose tracking errors in the closed-loop system ultimately converge to the small neighborhoods of the origin. An example is simulated to verify the effectiveness of the proposed control design approach.
机译：通过在本研究中使用自适应非线性控制方法开发了终端着陆阶段的推迟月着陆器的新型双回路指导和控制策略。为了获得主推力输入和内圈所需的姿态轨迹，首先基于双曲线切线函数首先开发了外环位置跟踪引导法，以保证所需态度的受约束力和奇点避免。然后，为了避免所需的姿态轨迹的复杂的分析衍生计算，采用稳定的二阶滤波器来为内循环姿态运动产生命令姿态轨迹。最后，通过将屏障Lyapunove功能和背击技术组合来摆脱基于欧拉角的姿态运动雅典族矩阵的奇异性来设计自适应姿态跟踪控制器。此外，根据Lyapunov分析导出用于指导指导法和姿态控制器中参数的调整规则，闭环系统中的姿势跟踪误差最终会聚到原点的小街区。模拟示例以验证所提出的控制设计方法的有效性。

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  • 来源
    《Mechanical systems and signal processing》 |2020年第8期|106763.1-106763.18|共18页
  • 作者

    Liang Sun; Guang Sun; Jingjing Jiang;

  • 作者单位

    Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 PR China Institute of Artificial Intelligence University of Science and Technology Beijing Beijing 100083 PR China;

    Research and Development Center China Academy of Launch Vehicle Technology Beijing 100076 PR China;

    Department of Aeronautical and Automotive Engineering Loughborough University Leicestershire LE11 3TU United Kingdom;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Lunar lander; Guidance and control; Adaptive control; Nonlinear control;

    机译：月球兰德;指导和控制;自适应控制;非线性控制;

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