Barrier Lyapunov function-based planetary landing guidance for hazardous terrains
Barrier Lyapunov function-based planetary landing guidance for hazardous terrains
The landing guidance based on the barrier Lyapunov function (BLF) for hazardous terrains is investigated. Three suitable spatial geometric shapes (frustum-shape, cone-shape, and <formula><tex>$n$</tex></formula>-step-shape) have been chosen to describe the possible obstacles on the planetary surface. Next, a novel and general form of the barrier function (BF) has been developed using selected spatial geometric shape information, specifically designed to constrain the lateral motion. For these three different spatial geometric shapes, only the segment number of BF is different, and the segment number is determined by the spatial geometric shape. Furthermore, a fixed-time convergent function is selected as the upper boundary to coordinate the vertical motion, guaranteeing that the lander completes the landing mission within the predefined time. Next, a new nonlinear feedback guidance is designed using the asymmetric BLF constructed by the BF, keeping the lander from colliding with the obstacle and achieving the pinpoint soft landing. Finally, numerical simulations with different hazardous terrains are performed to verify the feasibility and effectiveness of the proposed algorithms.
Asymmetric barrier Lyapunov function (BLF), collision avoidance, Collision avoidance, feedback guidance, landing guidance, Lyapunov methods, Mathematical models, Motion segmentation, new form barrier function, Sea surface, Shape, Trajectory
Gong, Youmin
b773ae52-6da4-4e57-bb7d-21fcb0082dfa
Guo, Yanning
8c00e47f-af8f-4897-97ea-06160d66a914
Ma, Guangfu
ac87dc64-00bf-41c8-b72a-dabb584da67a
Zhang, Yao
a4f30318-ab42-4b38-a60d-f7199ff3a02a
Guo, Minwen
bd769f54-fb19-4385-ab31-cd180c2901b7
1 October 2022
Gong, Youmin
b773ae52-6da4-4e57-bb7d-21fcb0082dfa
Guo, Yanning
8c00e47f-af8f-4897-97ea-06160d66a914
Ma, Guangfu
ac87dc64-00bf-41c8-b72a-dabb584da67a
Zhang, Yao
a4f30318-ab42-4b38-a60d-f7199ff3a02a
Guo, Minwen
bd769f54-fb19-4385-ab31-cd180c2901b7
Gong, Youmin, Guo, Yanning, Ma, Guangfu, Zhang, Yao and Guo, Minwen
(2022)
Barrier Lyapunov function-based planetary landing guidance for hazardous terrains.
IEEE/ASME Transactions on Mechatronics.
(doi:10.1109/TMECH.2021.3121434).
Abstract
The landing guidance based on the barrier Lyapunov function (BLF) for hazardous terrains is investigated. Three suitable spatial geometric shapes (frustum-shape, cone-shape, and <formula><tex>$n$</tex></formula>-step-shape) have been chosen to describe the possible obstacles on the planetary surface. Next, a novel and general form of the barrier function (BF) has been developed using selected spatial geometric shape information, specifically designed to constrain the lateral motion. For these three different spatial geometric shapes, only the segment number of BF is different, and the segment number is determined by the spatial geometric shape. Furthermore, a fixed-time convergent function is selected as the upper boundary to coordinate the vertical motion, guaranteeing that the lander completes the landing mission within the predefined time. Next, a new nonlinear feedback guidance is designed using the asymmetric BLF constructed by the BF, keeping the lander from colliding with the obstacle and achieving the pinpoint soft landing. Finally, numerical simulations with different hazardous terrains are performed to verify the feasibility and effectiveness of the proposed algorithms.
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More information
Accepted/In Press date: 10 October 2021
e-pub ahead of print date: 22 November 2021
Published date: 1 October 2022
Additional Information:
Publisher Copyright:
IEEE
Keywords:
Asymmetric barrier Lyapunov function (BLF), collision avoidance, Collision avoidance, feedback guidance, landing guidance, Lyapunov methods, Mathematical models, Motion segmentation, new form barrier function, Sea surface, Shape, Trajectory
Identifiers
Local EPrints ID: 471522
URI: http://eprints.soton.ac.uk/id/eprint/471522
ISSN: 1083-4435
PURE UUID: 7c1b862e-e291-47d4-9ea9-e66647d9932c
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Date deposited: 10 Nov 2022 17:31
Last modified: 17 Mar 2024 04:14
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Contributors
Author:
Youmin Gong
Author:
Yanning Guo
Author:
Guangfu Ma
Author:
Yao Zhang
Author:
Minwen Guo
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