Output-Feedback Tube Model Predictive Control for Robust Autonomous Descent and Landing on Asteroids

Thomas Frekhaug; Manuel Sanjurjo-Rivo; Manuel Soler

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CEAS EuroGNC 2022

Output-Feedback Tube Model Predictive Control for Robust Autonomous Descent and Landing on Asteroids

Thomas Frekhaug	Phd student, Universidad de Carlos III, Aerospace and Biology, 28911, Leganes, Spain.
Manuel Sanjurjo-Rivo	Professor, Universidad de Carlos III, Aerospace and Biology, 28911, Leganes, Spain.
Manuel Soler	Professor, Universidad de Carlos III, Aerospace and Biology, 28911, Leganes, Spain.

Abstract:
An output-feedback tube based model predictive controller is formulated and proposed for a real-time and fully autonomous descent and landing scenario onto small bodies and asteroids. With computational power being limited on deep space probes, the proposed guidance and control method relies solely on solving a quadratic optimisation problem online. Robustness is achieved through the off-line design of robust positively invariant sets, whereby the spacecraft is guaranteed to follow a nominal trajectory as generated from the solution of the quadratic optimisation problem. A full design synthesis of the tube based controller is proposed, accounting for both model and measurement uncertainties. Simulations verify the robustness of the strategy, but also highlights important challenges when limited to only linear systems in a highly nonlinear environment.

Keywords: MPC; Robust-Control; Autonomous

View PDF CEAS-GNC-2022-018

Thomas Frekhaug, Manuel Sanjurjo-Rivo, Manuel Soler: Output-Feedback Tube Model Predictive Control for Robust Autonomous Descent and Landing on Asteroids. Proceedings of the 2022 CEAS EuroGNC conference. Berlin, Germany. May 2022. CEAS-GNC-2022-018.

BibTeX entry:

@Incollection{CEAS-GNC-2022-018,

    authors = {Frekhaug, Thomas and Sanjurjo-Rivo, Manuel and Soler, Manuel},

    title = {Output-Feedback Tube Model Predictive Control for Robust Autonomous Descent and Landing on Asteroids},

    booktitle = {Proceedings of the 2022 {CEAS EuroGNC} conference},

    address = {Berlin, Germany},

    month = may,

    year = {2022},

    note = {CEAS-GNC-2022-018}

}