行星着陆大气进入段自适应滑模抗扰控制方法

Planetary Landing Disturbance Rejection Control Based on Adaptive Sliding Mode

针对行星探测器着陆过程可能存在的干扰影响着陆精度问题,提出了一种抗干扰控制方法。首先建立行星探测器着陆控制模型,利用非线性干扰观测器实现对系统外部干扰的估计;在此基础上提出一种自适应滑模控制律,使得系统状态快速收敛到平衡点附近。最后,将该方法应用于火星着陆场景进行仿真。结果表明,提出的自适应滑模控制方法能够在未知扰动存在的情况下,有效实现行星探测器安全着陆,提高着陆任务的成功率。

According to the problem that the interference may affect the landing accuracy during the landing process of a planetary probe,an anti-interference control method is proposed.Firstly,the landing control model of the planetary probe is established,and the external disturbance of the system is estimated by using the nonlinear disturbance observer.On this basis,an adaptive sliding mode control law is proposed,which makes the system state converge quickly to the equilibrium point.Finally,the method is applied to the Mars landing scene simulation.The results show that the proposed adaptive sliding mode control method can effectively achieve the safe landing of the planetary probe and improve the success rate of the landing mission in the presence of unknown disturbances.