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Attitude and Anti-Bouncing Control to enhance the Movements Capabilities of MASCOT-like Landers

Kapp, Daniela and Lichtenheldt, Roy and Reger, Johann (2019) Attitude and Anti-Bouncing Control to enhance the Movements Capabilities of MASCOT-like Landers. 15th Symposium on Advanced Space Technologies in Robotics and Automation, ASTRA 2019, Noordwijk, the Netherlands.

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Abstract

Exploration of small planetary bodies is a fast growing field of interest. Compared to the exploration of Mars and Moon it poses larger uncertainties in terms of the surface structure and composition as well as risks and challenges due to low gravity. DLR’s Asteroid Lander MASCOT has made a first major step towards the mobile exploration of asteroids. However, its mobility was feed-forward controlled only and needed excessive simulations and information on the asteroid before the landing to operate sufficiently robust. For future hopping explorers this paper proposes an attitude controller with additional control mechanisms to a) land in a nominal measurement orientation after every hop and b) to diminish kinetic energy in the system as fast as possible to minimize bouncing. This allows the landers to operate for longer periods of time with larger time slots for scientific measurements, also reducing the mission risk due to landing in false orientation.

Item URL in elib:https://elib.dlr.de/127639/
Document Type:Conference or Workshop Item (Speech)
Title:Attitude and Anti-Bouncing Control to enhance the Movements Capabilities of MASCOT-like Landers
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kapp, DanielaDaniela.Kapp (at) dlr.deUNSPECIFIED
Lichtenheldt, RoyRoy.Lichtenheldt (at) dlr.dehttps://orcid.org/0000-0002-2539-4910
Reger, JohannUNSPECIFIEDUNSPECIFIED
Date:2019
Refereed publication:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:MASCOT; Ryugu; Asteroid exploration; hopper; anti-bouncing control
Event Title:15th Symposium on Advanced Space Technologies in Robotics and Automation, ASTRA 2019
Event Location:Noordwijk, the Netherlands
Event Type:international Conference
Organizer:ESTEC/ESA
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt Mascot (Rob.)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Lichtenheldt, Roy
Deposited On:04 Jun 2019 10:46
Last Modified:11 Jul 2019 13:40

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