A method of guidance, navigation and control for soft landing on asteroid based on constrained MPC

For the problem of autonomous optical GNC for soft landing on asteroid, a method based on constrained MPC (Model Predictive Control) is proposed in this paper. First, introduce the strategy of soft landing on asteroid based on autonomous optical system. Second, the desired trajectory, position and velocity that satisfy the requirement is planned. Third, the control method of constrained MPC and EKF is applied to ensure the fast and accurate response to the robustness of guidance law. Finally, a serious of comparison with PD and VSC are conducted to test the performance of MPC.