The problem of powered descent guidance and control for autonomous precision landing for next-generation planetary missions is addressed. The precision landing algorithm aims to trace a fuel-optimal trajectory while keeping geometrical constraints such as the line of sight to the target site. The design of an autonomous control algorithm managing such mission scenarios is challenging due to fact that critical geometrical constraints are coupled with the translational and rotational motions of the lander spacecraft, leading to a complex motion-planning problem. This problem is approached within the model predictive control framework by representing the dynamics of the rigid body in a uniform gravity field via a piecewise affine system taking advantage of the unit dual-quaternion parameterization. Such a parameterization in turn enables a six-degree-of-freedom motion planning in a unified framework while also admitting a quadratic cost on the required control commands to minimize propellant consumption. A novel feature of the proposed approach is the development of convex representable subsets in the configuration space in terms of unit dual quaternions. The stability and reachability issues of the corresponding piecewise affine model predictive control approach are then discussed. Numerical simulations are presented to demonstrate the effectiveness of the proposed methodology for autonomous precision landing. Presented as Paper 2015-0319 at the AIAA Guidance, Navigation, and Control Conference, Kissimmee, FL, 5-9 January 2015


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Constrained Autonomous Precision Landing via Dual Quaternions and Model Predictive Control


    Contributors:


    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.54 Flugführung
    Local classification TIB:    770/7040





    Formation control for multi-domain autonomous vehicles based on dual quaternions

    Mas, Ignacio / Moreno, Patricio / Giribet, Juan et al. | IEEE | 2017


    Model Predictive Control for Autonomous Landing in Complex Scenarios

    Sotirakos, Konstantinos / Prazenica, Richard J. | AIAA | 2025


    Small Body Precision Landing via Convex Model Predictive Control

    Reynolds, Taylor / Mesbahi, Mehran | AIAA | 2017