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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 53101 (45)
- University: Sharif University of Technology
- Department: Aerospace Engineering
- Advisor(s): Kiani, Maryam
- Abstract:
- This study has focused on the important problem of landing on a planet as an important current and future space mission. In this regard, dynamics modeling and integrated state estimation and control problems have been investigated in different views. To this aim, first a novel concurrent representation for translational and rotational kinematics has been developed based on the extension of modified Rodrigues parameters to dual space. This parameter set, called dual modified Rodrigues parameters (DMRP), is then utilized to establish an integrated roto-translational dynamic. The proposed DMRP-based kinematics and dynamics have been verified via comparison to traditional methods of Dual-Quaternions and Newton-Euler. In following, a new integrated state estimation and control has been developed to address uncertainties existing in a nonlinear dynamics and/or measurement model based on sliding mode control policy. This robust state estimation and control algorithm is then extended to dual space and applied to complex problem of landing on the Mars planet considering geometrical constraints around the landing point. Viability and better performance of the proposed navigation algorithm is verified in comparison to an estimation and control algorithm based on the PD controller and EKF filter in Monte-Carlo simulations
- Keywords:
- Robust Control ; Dual Quaternion ; Robust Estimator ; Dual Modified Rodrigues Parameters ; Landing on a Planet ; Proportional-Derivative (PD) Control
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