Simulations and Flight Tests of a New Nonlinear Controller for the EAGLE Lander

摘要

This paper describes the complete control strategy developed for EAGLE, a vertical-takeoff, vertical-landing vehicle conceived and realized by DLR, German Aerospace Center for the testing and the validation of guidance, navigation, and control technologies. A nonlinear controller, divided in thrust-vector control and position control, based on sliding-mode theory, has been developed. Simulations and real flight tests, realized in a DLR ad hoc facility, are described. Results show that the proposed control strategy is able to successfully control EAGLE in a highly constrained scenario as well as in the presence of multiple uncertainties and disturbances.