A Fuel-Optimal Landing Guidance and Inverse Kinematics Coupled PID Control Solution for Power-Descent Vertical Landing in Simulation

Yongfeng Lu, Zejian Chen


This article presents a guidance path planning and real-time control solution for power-descent landing of an ovoid-shape vehicle in simulation. Given a vehicle initially in free-fall state at a location in mid-air site, the proposed solution will guide and control it by the thrusters to land it at a target location on the ground. The solution consists of an offline guidance path planning step and a real-time control step. It uses the result of a convexified guidance path planning to tune an Inverse Kinematics coupled PID controller with feedforward routes. In a Bullet Physics [1] based simulation environment, experiments were conducted to show good alignment with guidance, i.e. averaged Root Mean Square Error of position, velocity and attitude-in-quaternion are within,  and  respectively during a divert up to 120 m horizontally and 100 m vertically, against several disturbances including reducing mass, fluctuating center of mass, scheduling uncertainty and simulated wind, while the simulation frame rate is kept at around 60 fps for convenient real-time interaction.


Convex optimization; Inverse kinematics; Path planning; PID; SOCP.

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