Abstract
Small bodies have the characteristics of noncooperative, irregular gravity, and complex terrain on the surface, which cause difficulties in successful landing for conventional landers. In this paper, a multinode flexible lander is put forward to address the problem. The dynamics of this new lander are constructed based on the port-Hamilton framework. The trajectory-tracking formation controller for the lander is designed in a passive way. The proposed dynamics and controller are further validated through numerical simulations. This research presents a fresh concept that holds inspiration for future design involving small-body landers.
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