チャンドラヤーン3号月着陸ミッションにおけるクォータニオンを用いた推力軸姿勢制御の分離手法
Decoupled Thrust-Axis Attitude Control Using Quaternions for Chandrayaan-3 Lunar Landing Mission
チャンドラヤーン3号の月面軟着陸において、クォータニオンに基づく姿勢制御の軸間結合を分離し、推力軸を独立に制御する新しい手法を提案した論文。
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著者: Aditya Rallapalli, Suraj Kumar, Rijesh M P, Ashok Kumar Kakula, Bharat Kumar GVP
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Chandrayaan-3 mission achieved a historic milestone with its successful soft landing near the lunar south pole, highlighting the critical role of the navigation, guidance, and control (NGC) system. Navigation provided vehicle state estimates relative to the Moon center, while a polynomial based guidance scheme computed the required acceleration profile to meet terminal landing conditions. This acceleration demand was translated into total thrust magnitude and attitude commands generation. Attitude command generation involved aligning the thrust axis with the required acceleration vector and constraining rotation about the thrust axis, typically governed by mission-specific requirements. Although quaternion-based control laws are preferred for their singularity-free representation, they inherently couple all three rotational axes. This coupling can lead to undesirable interactions between guidance and control, especially during large rotations about the thrust axis, due to the quaternion shortest-path property. This paper proposes a novel quaternion-based decoupling method that enables independent thrust-axis control, mitigating guidance-control interaction and ensuring proper attitude commands generation for lander attitude control.
