An enhanced anti-disturbance guidance scheme for powered descent phase of Mars landing under actuator fault. (23rd February 2018)

• Record Type: Journal Article
• Authors: Xu, Jianwei; Qiao, Jianzhong; Guo, Lei
• Is Part Of: International journal of advanced robotic systems. Volume 15:Number 1(2018:Jan./Feb.)
• Publication Date: 2018-02-23
• Subjects: Powered descent phase -- precise landing on Mars -- iterative learning observer -- disturbance observer -- enhanced anti-disturbance guidance; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881418759889
• Languages: English
• ISSNs: 1729-8806

Abstract

As a class of autonomous deep-space exploration robots, Mars lander is simultaneously affected by wind disturbance and actuator fault, which hinders precise landing on Mars. In this article, we propose a composite guidance approach by combining disturbance observer and iterative learning observer together. The Mars wind disturbance is dealt by the disturbance observer providing wind estimation which is rejected through feed-forward channel. Meanwhile, the iterative learning observer is used to estimate the deficiency of actuators. The proposed guidance scheme ensures not only the precision but also the reliability of the Mars guidance system. The stability of the closed-loop system is analyzed. Simulations made in different situations demonstrate the performance of the proposed approach.