行星探测器精确着陆鲁棒轨迹优化与复合控制方法研究

High precision guidance and control is the prerequisite and guarantee for the implementation of planetary landing successfully. Focusing on the technical challenges during planetary landing such the multi-source interference, high uncertainty, time-varying nonlinearity, the weak controllability and landing safety, methods of the complex constraint analysis and abstraction, robust trajectory optimization, trajectory tracking control are investigated deeply. By introducing the optimization theory, nonlinear system theory, probability theory, stochastic process theory, breakthroughs to the key technologies of constraint inconsistency case performance index system, robust trajectory optimization under complex constraints, and trajectory tracking under high disturbance are brought forward. The methods of robust optimal entry guidance method based on multi-constrained optimization，robust high precision landing control method based on composite layered anti-interference，robust trajectory optimization and safe high precision landing control method based on dynamic constraint of target landing point are proposed. Based on the research, the methodology of guidance and control can be refined. The theory and application references of guidance and control system design are hopefully provided for the future planetary landing missions.

高精度制导与控制是行星着陆探测任务成功实施的前提和保障。针对行星着陆过程中存在多源干扰、多不确定性、时变非线性、制导控制能力弱以及着陆安全性等诸多约束带来的挑战，通过对复杂约束分析和抽象、鲁棒轨迹优化、轨迹跟踪控制等深入研究，引入最优化理论、非线性系统理论、概率论、随机过程理论等工具，突破约束不一致情况下性能指标体系建立、复杂约束下的鲁棒轨迹优化、强扰动下的轨迹跟踪等关键技术，提出基于多约束优化的鲁棒最优进入制导方法、基于复合分层抗干扰的鲁棒高精度着陆控制方法、基于目标着陆点动态约束的鲁棒轨迹优化和安全高精度着陆控制方法等，进一步完善行星着陆高精度制导与控制的理论与方法体系，为未来行星探测器在深空复杂环境下的着陆制导与控制系统设计提供理论与方法参考。

本项目针对行星探测器着陆过程中的制导与控制进行了研究，针对行星探测器着陆制导与控制中存在的一些重要科学问题，通过对多源干扰、多不确定性、制导控制能力弱等诸多因素的深入分析，利用深空探测器自主导航与制导理论、最优化理论以及现代控制技术方法和手段，重点研究了行星探测器系统具有多种不确定性和多种约束不一致的深空复杂环境下的制导与控制方法，取得了一些原创性理论成果：提出了基于多约束目标的鲁棒轨迹优化方法，基于干扰观测器的复合抗干扰控制策略，并结合变结构控制方法改善轨迹跟踪控制性能，提高抗干扰的稳定控制和跟踪控制精度，开展了相关仿真试验。项目按照计划完成了预期研究内容，达到了预期研究目标，获得相关成果进一步丰富和发展了行星探测器精确着陆制导与控制方法，期望能为我国实施行星着陆探测任务提供理论基础与技术支撑。