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中文摘要：
在制动火箭推力幅值满足连续可变的前提下，研究了月球探测器软着陆末端的垂直下落过程中的控制问题。基于线性系统跟踪控制理论，利用线性系统中的模型参考跟踪控制的方法设计了一种对指定轨迹进行跟踪的制动方案。同时为了满足耗燃最优性和安全性，根据最优化理论，对控制律中的参数进行优化，最终确定系统的控制律。仿真结果表明该设计方法是简单、有效的。
英文摘要：
Under the assumption that the thrust of the retro-rocket is continuously adjustable, the control problem of the vertical flight process of the lunar soft landing＇ s terminal phase is solved in this paper. Based on the tracking control theory of linear system, a braking scheme to track a prescribed trajectory is designed by using the model reference approach of linear system. To satisfy the demand for minimal fuel and securi- ty, based on the optimization theory, parameters of the tracking control law are optimized, and then the final control law is confirmed. The result of the simulation demonstrates the proposed design scheme is simple and effective.
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