Fast Terminal Sliding Mode Control for the Soft Landing of a Space Robot on an Asteroid Considering a Barycentric Gravitational Model

Azadmanesh, Mahsa; Roshanian, Jafar; Hassanalian, Mostafa

doi:10.22034/jast.2023.394618.1147

Document Type : Original Article

Authors

¹ K. N. Toosi University of Technology

² Faculty of Aerospace Engineering of K. N. Toosi University of Technology

³ New Mexico Tech

10.22034/jast.2023.394618.1147

Abstract

This study aims to control a space robot's soft-landing trajectory on the asteroid EROS433 considering a weak, yet effective gravitational field. As the research innovation, the study employs a fast terminal sliding mode control (FTSMC) to manage the landing trajectory and enhance the dynamic tracking performance for the soft landing of the space robot on the asteroid. This controller can ensure that the system modes are positioned on the sliding surface within a limited time. As an advantage over the PD sliding mode controller, the proposed controller raises the speed and improves the accuracy of tracking the desired trajectory and enhances the robustness of the control system. The study further compares the results of simulations performed in MATLAB to evaluate the proposed controller design. The results show that the absolute error value for FTSMC is significantly lower than the PD sliding mode controller, and when the sign function is replaced by a hyperbolic tangent, it makes the system behavior smoother and reduces the oscillations.

Keywords

Main Subjects

Flight Mechanics Stability & Contorl

Article Title [Persian]

Fast Terminal Sliding Mode Control for the Soft Landing of a Space Robot on an Asteroid Considering a Barycentric Gravitational Model

Authors [Persian]

Mahsa Azadmanesh ¹
Jafar Roshanian ²
Mostafa Hassanalian ³

¹ K. N. Toosi University of Technology

² Faculty of Aerospace Engineering of K. N. Toosi University of Technology

³ New Mexico Tech

Abstract [Persian]

Keywords [Persian]

Low Gravity Bodies
Space Robot Landing
Fast Terminal Sliding Mode Control
Asteroid
Lyapunov Stability

References

[1] Yoshimitsu, Tetsuo, et al. "Micro-hopping robot for asteroid exploration." Acta Astronautica 52.2-6 (2003): 441-446.

[2] Ulamec, Stephan, et al. "Landing on small bodies: From the Rosetta Lander to MASCOT and beyond." Acta Astronautica93 (2014): 460-466.

[3] Zhang, Tao, et al. "Drilling, sampling, and sample-handling system for China's asteroid exploration mission." Acta Astronautica 137 (2017): 192-204.

[4] Tsuda, Yuichi, et al. "Hayabusa2 mission status: Landing, roving and cratering on asteroid Ryugu." Acta Astronautica171 (2020): 42-54.

[5] Li, Yuanchun, He Wang, Bo Zhao, and Keping Liu. "Adaptive fuzzy sliding mode control for the probe soft landing on the asteroids with weak gravitational field." Mathematical Problems in Engineering 2015 (2015). https://doi.org/10.1155/2015/582948

[6] Yang, Yue-neng, Jie Wu, and Wei Zheng. "Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control." Journal of Zhejiang University SCIENCE C 13, no. 7 (2012): 534-543. https://doi.org/10.1631/jzus.C1100371

[7] Cui, H. T., X. Y. Shi, and P. Y. Cui. "Guidance and control law for soft landing asteroid." Jounal of Flight Dynamics 20 (2002): 35-38. https://doi.org/10.15982/j.issn.2095-7777.2019.02.010

[8] Zhiwei, H. A. O., Z. H. A. O. Yi, C. H. E. N. Ying, and Qiuhua Zhang. "Orbital maneuver strategy design based on piecewise linear optimization for spacecraft soft landing on irregular asteroids." Chinese Journal of Aeronautics 33, no. 10 (2020): 2694-2706. https://doi.org/10.1016/j.cja.2019.12.011

[9] Cui, P. Y., S. Y. Zhu, and H. T. Cui. "Autonomous impulse maneuver control method for soft landing on small bodies." Journal of Astronautics 29, no. 2 (2008): 511-516. https://doi.org/10.15982/j.issn.2095-7777.2019.02.010

[10] Zexu, Zhang, Wang Weidong, Li Litao, Huang Xiangyu, Cui Hutao, Li Shuang, and Cui Pingyuan. "Robust sliding mode guidance and control for soft landing on small bodies." Journal of the Franklin Institute 349, no. 2 (2012): 493-509. https://doi.org/10.1016/j.jfranklin.2011.07.007

[11] Carson, John, Behcet Acikmese, Richard Murray, and Douglas MacMynowski. "Robust model predictive control with a safety mode: applied to small-body proximity operations." In AIAA Guidance, Navigation and Control Conference and Exhibit, p. 7243. 2008. https://doi.org/10.2514/6.2008-7243

[12] Lan, Qixun, Shihua Li, Jun Yang, and Lei Guo. "Finite-time soft landing on asteroids using nonsingular terminal sliding mode control." Transactions of the Institute of Measurement and Control 36, no. 2 (2014): 216-223. https://doi.org/10.1177%2F0142331213495040

[13] Yang, Hongwei, Xiaoli Bai, and Hexi Baoyin. "Finite-time control for asteroid hovering and landing via terminal sliding-mode guidance." Acta Astronautica 132 (2017): 78-89. https://doi.org/10.1016/j.actaastro.2016.12.012

[14] Hilmi, Z. E. N. K., Halil ŞENOL, and Faruk GÜNER. "Lunar Excursion Module Landing Control System Design with P, PI and PID Controllers." Karadeniz Fen Bilimleri Dergisi 9, no. 2 (2019): 390-405. https://doi.org/10.31466/kfbd.647211

[15] Shornikov, Andrei, and Olga Starinova. "Simulation of controlled motion in an irregular gravitational field for an electric propulsion spacecraft." In 2015 7th International Conference on Recent Advances in Space Technologies (RAST), pp. 771-776. IEEE, 2015. https://doi.org/10.1109/RAST.2015.7208444

[16] Shornikov, Andrey, and Olga Starinova. "Boundary problem solution algorithm for the task of controlled spacecraft motion in irregular gravitational field of an asteroid." Procedia engineering 185 (2017): 411-417. https://doi.org/10.1016/j.proeng.2017.03.323

[17] Ebrahimi, Behrouz, Mohsen Bahrami, and Jafar Roshanian. "Optimal sliding-mode guidance with terminal velocity constraint for fixed-interval propulsive maneuvers." Acta Astronautica 62.10-11 (2008): 556-562.

[18] Yu, Xinghuo, and Man Zhihong. "Fast terminal sliding-mode control design for nonlinear dynamical systems." IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications 49, no. 2 (2002): 261-264. https://doi.org/10.1109/81.983876

[19] Mobayen, Saleh, and Fairouz Tchier. "Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer." Scientia Iranica 24, no. 3 (2017): 1410-1418. https://dx.doi.org/10.24200/sci.2017.4123

[20] Shuang, Li, and Cui Pingyuan. "Landmark tracking based autonomous navigation schemes for landing spacecraft on asteroids." Acta Astronautica 62, no. 6-7 (2008): 391-403. https://doi.org/10.1016/j.actaastro.2007.11.009

[21] Furfaro, Roberto, Dario Cersosimo, and Daniel R. Wibben. "Asteroid precision landing via multiple sliding surfaces guidance techniques." Journal of Guidance, Control, and Dynamics 36, no. 4 (2013): 1075-1092. https://doi.org/10.2514/1.58246

[22] Gui, Haichao, and Anton HJ de Ruiter. "Control of asteroid-hovering spacecraft with disturbance rejection using position-only measurements." Journal of Guidance, Control, and Dynamics 40, no. 10 (2017): 2401-2416. https://doi.org/10.2514/1.G002617

[23] Kasaeian, Seyed Aliakbar, and Masoud Ebrahimi. "Robust Switching Surfaces Sliding Mode Guidance for Terminal Rendezvous in Near Circular Orbit." Journal of Space Science and Technology 11, no. 2 (2018): 21-31.

[24] Perruquetti, Wilfrid, and Jean Pierre Barbot, eds. Sliding mode control in engineering. Vol. 11. New York: Marcel Dekker, 2002.

[25] Azar, Ahmad Taher, and Quanmin Zhu, eds. Advances and applications in sliding mode control systems. Cham: Springer International Publishing, 2015.

Journal of Aerospace Science and Technology

Fast Terminal Sliding Mode Control for the Soft Landing of a Space Robot on an Asteroid Considering a Barycentric Gravitational Model

References

References

Volume 16, Issue 1
June 2023
Pages 66-76

Fast Terminal Sliding Mode Control for the Soft Landing of a Space Robot on an Asteroid Considering a Barycentric Gravitational Model

References

References

Volume 16, Issue 1June 2023Pages 66-76

Volume 16, Issue 1
June 2023
Pages 66-76