NAVIGATION, GUIDANCE AND CONTROL FOR PLANETARY LANDING

This dissertation aims to develop algorithms of guidance and control for propulsive terminal phase planetary landing, including a piloting strategy. The algorithms developed here are based on the Embedded Model Control (EMC) principles. Currently, the planetary entry descent and landing are important issues, landing on Mars and Moon has been scientifically rewarding; successful landed robotic systems on the surface of Mars have been achieved. Projects as Mars Science Laboratory MSL inter alia have achieved a successful landing. These new approaches are focused in delivering large amounts of mass with a low uncertainty and in performing the entry, descent and landing sequence for human exploration. The dissertation is divided in two parts, the first part is focused on Pinpoint landing algorithms, piloting definition and its integration with guidance; some simulations runs are provided. The second part of this research describes the Borea project. It shows the modelling of quadrotor dynamics and kinematics. Its propulsive system is studied and an alternative methodology for the propeller modelling is presented. The embedded model control for quadrotor vehicles is developed. Test of GNC algorithms for planetary landing were studied and simulated. The dissertation is divided in two parts, the first part is focused on Pinpoint landing algorithms, piloting definition and its integration with guidance, some simulations runs are provided. The second part of this research describes the Borea project. shows modelling of quadrotor dynamics and kinematics. Its propulsive system is studied and an alternative methodology for the propeller modelling is presented. The embedded model control for quadrotor vehicles is developed. Test of GNC algorithms for planetary landing were studied and simulated.