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Mathematical Problems in Engineering
Volume 2015, Article ID 582948, 8 pages
Research Article

Adaptive Fuzzy Sliding Mode Control for the Probe Soft Landing on the Asteroids with Weak Gravitational Field

1Department of Control Engineering, Changchun University of Technology, Changchun 130012, China
2State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China

Received 27 January 2015; Revised 7 May 2015; Accepted 7 May 2015

Academic Editor: Francesco Franco

Copyright © 2015 Yuanchun Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


For the trajectory control of the probe soft landing on the asteroids with weak gravitational field, this paper presents a combined integral sliding mode control with an adaptive fuzzy logic system, named adaptive fuzzy sliding mode control (AFSMC) scheme. Considering the uncertainty of the orbit dynamics model in the small body fixed coordinate system, and the polyhedron modeling uncertainty in the gravitational potential, a fuzzy logic system is adopted to approximate the upper bound of the uncertainties. In addition, a robust control item is introduced to compensate for the approximation error of fuzzy logic system. The designed adaptive law and robust item make the closed-loop control stable and the tracking errors are convergent to zero. The controller not only guarantees the rapidity and accuracy of the desired trajectory tracking, but also enhances the robustness of the control system, improving the dynamic tracking performance for the probe soft landing on asteroids. Finally, the contrastive simulation results are presented to show the feasibility and effectiveness of the proposed control scheme.