Fast Terminal Sliding Mode Control for the Soft Landing of a Space Robot on an Asteroid Considering a Barycentric Gravitational Model
سال انتشار: 1401
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 84
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شناسه ملی سند علمی:
AEROSPACE21_045
تاریخ نمایه سازی: 10 خرداد 1402
چکیده مقاله:
This study aims to control a space robot's soft-landing trajectory on the asteroid EROS۴۳۳ 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.
کلیدواژه ها:
نویسندگان
Mahsa Azadmanesh
K.N.Toosi University of Technology, Tehran, Iran.
Jafar Roshanian
K.N.Toosi University of Technology, Tehran, Iran.
Mostafa Hassanalian
New Mexico Tech University, Socorro, New Mexico, US.