Constrained Autonomous Precision Landing via Dual Quaternions and Model Predictive Control

The problem of powered descent guidance and control for autonomous precision landing for next-generation planetary missions is addressed. The precision landing algorithm aims to trace a fuel-optimal trajectory while keeping geometrical constraints such as the line of sight to the target site. The design of an autonomous control algorithm managing such mission scenarios is challenging due to fact that critical geometrical constraints are coupled with the translational and rotational motions of the lander spacecraft, leading to a complex motion-planning problem. This problem is approached within the model predictive control framework by representing the dynamics of the rigid body in a uniform gravity field via a piecewise affine system taking advantage of the unit dual-quaternion parameterization. Such a parameterization in turn enables a six-degree-of-freedom motion planning in a unified framework while also admitting a quadratic cost on the required control commands to minimize propellant consumption. A n...