Resource Prospector Lander Control Design Using Sliding Mode Control Toolbox

Abstract

In this work, problem of pinpoint soft landing of the “Resource Prospector Lander” (RPL) on the moon's surface is presented using the sliding mode control (SMC) Aero toolbox. The use of SMC Aero toolbox for the RPL control design simplifies the implementation of such a complicated control paradigm as relative degree-based SMC. The SMC Aero toolbox that include first order sliding mode control (1-SMC), second order sliding mode control (2-SMC), higher order sliding mode control (HOSMC), adaptive 1-SMC/2-SMC/HOSMC as well as higher order sliding mode differentiators are employed for the attitude and descent off-pulse controller design to achieve RPL soft landing on the moon's surface in the presence of the model perturbations caused by center of mass misalignments and actuator/thruster malfunctions. Adaptive SMC implementation of the RPL pulse-off strategy is facilitated using SMC Lunar Lander library of the SMC Aero toolbox. The efficacy of RPL control design using SMC Aero toolbox is illustrated via numerical simulations.