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Asteroid precision landing via Probabilistic Multiple-Horizon Multiple-Model Predictive Control

AlandiHallaj, M ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.1016/j.actaastro.2019.04.009
  3. Publisher: Elsevier Ltd , 2019
  4. Abstract:
  5. This paper seeks to provide a probabilistic control framework, named Probabilistic Multiple-Horizon Multiple-Model Predictive Control, for the soft and precise landing on an asteroid. The modified version of the Predictive Path Planning method is also introduced to generate a safe and smooth reference trajectory for landing. The Probabilistic Multiple-Horizon Multiple-Model Predictive Control is carried out in two phases; the offline phase to calculate the difference between models, and the online phase to use a probabilistic approach to track the reference trajectory. The difference of the dynamical models is utilized in the online control method to compensate the accuracy of the approximate models in the Multiple-Horizon Multiple-Model Predictive Control method. Furthermore, the presented control framework has the model-updating characteristic that helps to modify the prediction according to past information. The numerical simulation results demonstrate the effectiveness of the proposed guidance and control approach in the reduction of the fuel consumption as well as the landing error in the presence of different sources of uncertainties and disturbances. © 2019
  6. Keywords:
  7. Asteroid landing ; Model predictive control ; Modified predictive path planning ; Probabilistic Multiple-Horizon Multiple-Model Predictive Control ; Air navigation ; Asteroids ; Landing ; Motion planning ; Navigation ; Approximate model ; Guidance and control ; Multiple-modeling ; Path planning method ; Probabilistic approaches ; Reference trajectories ; Sources of uncertainty
  8. Source: Acta Astronautica ; Volume 161 , 2019 , Pages 531-541 ; 00945765 (ISSN)
  9. URL: https://www.sciencedirect.com/science/article/abs/pii/S0094576518305617