Decoupled Thrust-Axis Attitude Control Using Quaternions for Chandrayaan-3 Lunar Landing Mission
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2026
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866918528962002944 |
|---|---|
| author | Rallapalli, Aditya Kumar, Suraj P, Rijesh M Kakula, Ashok Kumar GVP, Bharat Kumar |
| author_facet | Rallapalli, Aditya Kumar, Suraj P, Rijesh M Kakula, Ashok Kumar GVP, Bharat Kumar |
| contents | Chandrayaan-3 mission achieved a historic milestone with its successful soft landing near the lunar south pole, highlighting the critical role of the navigation, guidance, and control (NGC) system. Navigation provided vehicle state estimates relative to the Moon center, while a polynomial based guidance scheme computed the required acceleration profile to meet terminal landing conditions. This acceleration demand was translated into total thrust magnitude and attitude commands generation. Attitude command generation involved aligning the thrust axis with the required acceleration vector and constraining rotation about the thrust axis, typically governed by mission-specific requirements. Although quaternion-based control laws are preferred for their singularity-free representation, they inherently couple all three rotational axes. This coupling can lead to undesirable interactions between guidance and control, especially during large rotations about the thrust axis, due to the quaternion shortest-path property. This paper proposes a novel quaternion-based decoupling method that enables independent thrust-axis control, mitigating guidance-control interaction and ensuring proper attitude commands generation for lander attitude control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_29409 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Decoupled Thrust-Axis Attitude Control Using Quaternions for Chandrayaan-3 Lunar Landing Mission Rallapalli, Aditya Kumar, Suraj P, Rijesh M Kakula, Ashok Kumar GVP, Bharat Kumar Systems and Control Robotics Chandrayaan-3 mission achieved a historic milestone with its successful soft landing near the lunar south pole, highlighting the critical role of the navigation, guidance, and control (NGC) system. Navigation provided vehicle state estimates relative to the Moon center, while a polynomial based guidance scheme computed the required acceleration profile to meet terminal landing conditions. This acceleration demand was translated into total thrust magnitude and attitude commands generation. Attitude command generation involved aligning the thrust axis with the required acceleration vector and constraining rotation about the thrust axis, typically governed by mission-specific requirements. Although quaternion-based control laws are preferred for their singularity-free representation, they inherently couple all three rotational axes. This coupling can lead to undesirable interactions between guidance and control, especially during large rotations about the thrust axis, due to the quaternion shortest-path property. This paper proposes a novel quaternion-based decoupling method that enables independent thrust-axis control, mitigating guidance-control interaction and ensuring proper attitude commands generation for lander attitude control. |
| title | Decoupled Thrust-Axis Attitude Control Using Quaternions for Chandrayaan-3 Lunar Landing Mission |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2605.29409 |