Terminal Sliding Mode Control for Attitude Tracking of Spacecraft Based on Rotation Matrix

Abstract

Two finite-time controllers without unwinding for the attitude tracking control of the spacecraft are investigated based on the rotation matrix, in which a novel modified nonsingular fast terminal sliding manifold is developed to keep tr(R~)≠-1. The first terminal sliding mode controller can compensate external disturbances with known bounds, while the second one can compensate external disturbances with unknown bounds by using an adaptive control method. Since the first terminal sliding mode controller is continuous, it is able to avoid chattering phenomenon. Theoretical analysis shows that both the two controllers can make spacecraft follow a time-varying reference attitude signal in finite time. Numerical simulations also demonstrate that the proposed control schemes are effective.

Comparative study of attitude control methods based on Euler angles, quaternions, angle–axis pairs and orientation matrices

“…Of course, the fact that E ^ does not have any singularity is another favourable feature. Some typical publication samples that are concerned directly with the orientation matrix are authored by Bargoshadi (2014), Bohn and Sanyal (2016), Chaturvedi et al (2011), Forbes (2015), Gong et al (2015), Guo et al (2015b), Lee (2012),Moreno et al (2009), Shenmin and Yong (2014), and Zou (2016). On the other hand, the unfavourable features of E ^ are usually counted as the redundancy of the six of its nine elements and the six orthonormality constraints among its elements, which must be checked continuously throughout the control process.…”

Adaptive Disturbance Rejection Control for Automatic Carrier Landing System

“…In [9], a combined direct and indirect MRAC statefeedback architecture was developed for MIMO dynamical systems with matched uncertainties and the methodology was extended to systems with a baseline controller. To solve the disturbance rejection problems, adaptive feedforward [10,11], feedback control methods [12], terminal sliding-mode control method [13][14][15], and back-stepping control designs [16,17] were proposed. In [18], an extension of biobjective optimal control modification for unmatched uncertain systems was proposed.…”