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

https://doi.org/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

20.1001.1.17352134.2023.16.1.6.1

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

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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