Nonlinear Control for Pinpoint Precision Landers
- Paper number
IAC-08.C1.5.13
- Author
Dr. Vaios Lappas, Surrey Space Centre, University of Surrey, United Kingdom
- Coauthor
Mr. Pablo Ghiglinio, Surrey Space Centre, University of Surrey, United Kingdom
- Year
2008
- Abstract
The desire to achieve pinpoint landing accuracies of tens to hundreds of meters for future planetary surface missions has prompted the study of the technology that will be needed to make such landings possible. Current technologies for planetary landers are based on medium precision techniques and hardware. Soft landers based on powered high precision (pinpoint) control will allow placement of science instruments on high interest locations. The main goal of this work is to find trajectory tracking algorithms and test them on a UAV helicopter with the aim of finding more efficient and robust control techniques for planetary precision landing. The paper describes the fundamentals of the kinematics and dynamics for six degree of freedom (6 DOF) vehicles and explores PID and LQR approaches that have been so far considered in the literature. Shortcomings are highlighted for existing algorithms and control schemes and a new nonlinear LQR based technique is presented and simulated. The new LQR method has been designed for implementation and testing on the Surrey UAV vehicle ‘Icarus’ and simulations will be presented for implementation on the UAV helicopter and for planetary landers.
- Abstract document
- Manuscript document
IAC-08.C1.5.13.pdf (🔒 authorized access only).
To get the manuscript, please contact IAF Secretariat.