Lyapunov-Based Hazard Avoidance Control Method for Landing on Small Celestial Bodies

Aiming at the difficulty in designing the coupled attitude and orbit control lander, the lyapunov-based hazard avoidance control method for landing on small celestial bodies is presented. Firstly, the dynamic model is given, and the is selected based on the current potential of the lander and the threat from the hazards. Then, the on-off logic of the thrusters is derived according to the Lyapunov theory. This guarantees that the lander can arrive at the landing site and avoid the hazards, and this process. Since the control logic is analytical, this control method can meet the real-time requirement of hazard avoidance and is easy to be applied in the engineering. The simulation results show that this method can avoid the hazards effectively and stabilize the attitude.