Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
권호 표지
DOI QR코드

DOI QR Code

Autonomous Landing on Small Bodies based on Discrete Sliding Mode Control

이산 슬라이딩 모드 제어를 이용한 소천체 자율 착륙 기법

  • Received : 2016.03.23
  • Accepted : 2017.07.24
  • Published : 2017.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a robust method for autonomously landing on small bodies. Autonomous landing is accomplished by generating and following reference position and attitude profiles. The position and attitude tracking controllers are based on discrete sliding mode control, which explicitly treats the discrete and impulsive natures of thruster operation. Vision-based inertial navigation is used for autonomous navigation for landing. Numerical simulation is carried out to evaluate the performance of the proposed method in a realistic situation with environmental uncertainties.

본 논문에서는 탐사선을 소천체에 착륙시키기 위한 자율 착륙 기법을 제시하였다. 제시된 기법은 탐사선이 스스로 착륙을 위한 위치 및 자세 프로파일을 생성하고 이를 추종하는 구조를 가지며, 위치 및 자세 추종을 위한 제어기를 설계함에 있어 소천체 및 탐사선의 환경 불확실성에 대해 강인한 특성을 갖는 이산 슬라이딩 모드 제어법칙을 바탕으로 하였다. 착륙을 위한 자율 항법 기법으로는 시각기반 관성항법을 적용하였으며, 제시된 착륙 기법은 다양한 불확실성이 존재하는 상황에서의 수치 시뮬레이션을 통해 검증되었다.

Keywords

References

  1. Mourikis, A. I., Trawny, N., Roumeliotis, S. I., Johnson, A. E., Ansar, A., and Matthies, L., "Vision-aided Inertial Navigation for Spaccraft Entry, Descent, and Landing", IEEE Transactions on Robotcs, 25(2), 2009, pp.264-280 https://doi.org/10.1109/TRO.2009.2012342
  2. Bhaskaran, S., Nandi, S., Broschart, S., Wallace, M., Cangahuala, L. A., and Olson, C., "Small Body Landing Accuracy using In-situ Navigation", AAS Guidance, Navigation and Control Meeting, Breckenridge, Colorado, Feburary 4, 2011, AAS 11-056
  3. Xingyu, H., Hutao, C., and Pingyuan. C., "Au Autonomous Navigation and Guidance for Soft Landing on Asteroids", Acta Astronautica, 54, 2004, pp.763-771 https://doi.org/10.1016/j.actaastro.2003.09.001
  4. Shuang, L., Pingyuan, C., and Hutao, C., "Autonomous Navigation and Guidance for Landing on Asteroids", Aerospace Science and Technology, 10, 2006, pp.239-247 https://doi.org/10.1016/j.ast.2005.12.003
  5. Hashimoto, T., Kubota, T., Kawaguchi, J., Uo, M., Shirakawa, K., Kominato, T., Morita, H., "Vision-based Guidance, Navigation and Control of Hayabusa Spacecraft - Lessons learned from Real Operation", IFAC Proceedings Volumes, 45, 15, 2010, pp.259-264
  6. Tsuda, Y., Yoshikawa, M., Abe, M., Minamino, H., Nakazawa, S., "System Design of the Hayabusa 2 - Asteroid Sample Return Mission to 1999 JU3", Acta Astronautica, 91, 2013, pp.356-362 https://doi.org/10.1016/j.actaastro.2013.06.028
  7. Barucci, M. A., Michel, P., et al, "MarcoPolo-R Assessment Study Report", ESA/SRE(2013)4, 2013
  8. Curti, F., Romano, M., Bevilacqua, R., "Lyapunov-Based Thrusters Selection for Spacecraft Control - Analysis and Experimentation", Journal of Guidance, Control, and Dynamics, 33, 4, 2010, 1143-1160 https://doi.org/10.2514/1.47296
  9. Pravec, P., Harris, A. W., Michalowski, T., "Asteroid Rotations", Asteroids III, 2002, pp.113-122
  10. Werner, R. A., and Scheeres, D. J., "Exterior Gravitation of a Polyhedron Derived and Compared with Harmonic and Mascon Gravitation Representations of Asteroid 4769 Castalia", Celestial Mechanics and Dynamical Astronomy, 65, 1997, pp.313-344
  11. Monsees, G.,, "Discrete-Time Sliding Mode Control", Ph.D. Thesis, Delft University of Technology, Delft, Netherlands, 192 pages
  12. http://www.psi.edu/pds/archive/asteroids.html
  13. "Monopropellant Data Sheets", Aerojet,