Adaptive output feedback integral sliding mode attitude tracking control of spacecraft without unwinding

Anuchit Jitpattanakul,Chutiphon Pukdeboon

doi:10.1177/1687814017710406

Abstract

This article studies an output feedback attitude tracking control problem for rigid spacecraft in the presence of parameter uncertainties and external disturbances. First, an anti-unwinding attitude control law is designed using the integral sliding mode control technique to achieve accurate tracking responses and robustness against inertia uncertainties and external disturbances. Next, the derived control law is combined with a suitable tuning law to relax the knowledge about the bounds of uncertainties and disturbances. The stability results are rigorously proved using the Lyapunov stability theory. In addition, a new finite-time sliding mode observer is developed to estimate the first time derivative of attitude. A new adaptive output feedback attitude controller is designed based on the estimated results, and angular velocity measurements are not required in the design process. A Lyapunov-based analysis is provided to demonstrate the uniformly ultimately bounded stability of the observer errors. Numerical simulations are given to illustrate the effectiveness of the proposed control method.

Highlights

Attitude control of rigid spacecraft has become one of the most interesting problems among researchers during the past decades
The main contributions of this article are as follows: 1. A new adaptive integral sliding mode controller is developed to force the attitude of a rigid spacecraft to track the desired attitude in finite time and achieve high tracking precision performance in the presence of inertia uncertainties and external disturbances
The controller (59) seems to be a more suitable scheme to deal with practical high-precision attitude tracking control of a rigid spacecraft because it relaxes the requirements of the upper bound of uncertainties and disturbances and provides good tracking outputs

Summary

Introduction

Attitude control of rigid spacecraft has become one of the most interesting problems among researchers during the past decades. TSMC has been proposed in which a nonlinear sliding surface is synthesized to obtain convergence of system states in finite time.[19,20] TSMC has been employed by previous studies[21,22,23] to design a robust FTC for spacecraft attitude tracking. A new adaptive integral sliding mode controller is developed to force the attitude of a rigid spacecraft to track the desired attitude in finite time and achieve high tracking precision performance in the presence of inertia uncertainties and external disturbances. This controller can eliminate the unwinding phenomenon.

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Conclusion