Model Predictive Control Strategies for Constrained Soft Landing on an Asteroid

In this paper, several autonomous control strategies for soft landing on an asteroid are developed and compared. These strategies exploit prediction and onboard optimization. They include a non-linear model predictive controller which directly handles the nonlinear model of the spacecraft dynamics and constraints. A convex model predictive controller which is based on the linearized model and an extended command governor in combination with an inner loop feedback controller. An input observer is used in all cases to compensate for errors between the estimated and actual gravity models. A two phase approach is used which divides the maneuver into a circumnavigation and a landing phase. Simulations performed on a full nonlinear model of the spacecraft near the asteroid Eros with measured gravity parameters demonstrate successful landings for all three control schemes.

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