宇航学报

宇航学报 ›› 2019, Vol. 40 ›› Issue (12): 1438-1443.doi: 10.3873/j.issn.1000-1328.2019.12.007

• 制导、导航、控制与电子 • 上一篇    下一篇

行星着陆大气进入段自适应滑模抗扰控制方法

戴娟，苏中，刘洪，朱翠   

  1. 1. 高动态导航技术北京市重点实验室，北京 100192；2. 现代测控技术教育部重点实验室，北京 100192；
    3. 北京信息科技大学自动化学院，北京 100192；4. 北京信息科技大学信息与通信工程学院，北京 100101
  • 收稿日期:2019-01-07 修回日期:2019-08-14 出版日期:2019-12-15 发布日期:2019-12-25
  • 基金资助:
    国家自然科学基金（61703040，61603047）；北京信息科技大学师资补充与支持计划（20192021）（5029011103）；北京信息科技大学科研水平提高重点研究培育项目（5211910939）；高动态导航技术北京市重点实验室（HDN2019001）；北京市教育委员会科技计划一般项目（71E1810971）；北京理工大学智能机器人与系统高精尖创新中心资助（2016IRS22）

Planetary Landing Disturbance Rejection Control Based on Adaptive Sliding Mode

DAI Juan, SU Zhong, LIU Hong, ZHU Cui   

  1. 1. Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China; 2. Key Laboratory of Modern
    Measurement and Control Technology, Ministry of Education, Beijing 100192, China; 3. School of Automation, Beijing
    Information Science & Technology University, Beijing 100192, China; 4. School of Information and Communication Engineering,
    Beijing Information Science & Technology University, Beijing 100101, China
  • Received:2019-01-07 Revised:2019-08-14 Online:2019-12-15 Published:2019-12-25

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摘要： 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。

关键词: 行星着陆, 轨迹跟踪, 自适应滑模, 非线性观测器, 抗扰控制

Abstract: 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.

Key words: Planetary landing, Trajectory tracking, Adaptive sliding mode, Nonlinear observer, Disturbance rejection control

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