基于自适应的月球着陆器悬停避障方法

摘要： 考虑质量和推力不确定性，月球着陆器在悬停避障时将难以快速稳定到设计高度.为解决此问题，提出一种基于自适应的高精度悬停避障方法，其核心是利用位置测量作为观测器的输入，对质量和推力不确定性进行快速估计和补偿.与基于PID的方案相比，该方案具有估计速度更快的优点，能够快速实现高精度的悬停避障控制.最后对所提方法给出仿真验证.

Hovering and Avoidance Method of Lunar Landers Based on Adaptive Control

Abstract：When mass and force uncertainties are taken into account, it will be difficult for lunar landers to hover on the designed height. To address this problem, we propose a new method for hovering and avoidance which is based on adaption.The core idea is to employ the position as the input of the observer for estimating and compensating the uncertainties. Compared with conventional PID methods, the proposed control strategy enjoys the properties of fast speed and small fluctuation, and it is able to realize high performance for hovering and avoidance. Numerical simulations demonstrate the effectiveness of the proposed approach.