Abstract
Based on the unwinding problem caused by the dual valued property of the quaternion description method, this paper designs an anti-unwinding sliding mode adaptive attitude tracking control with external disturbances and inertia matrix uncertainty. The sliding mode surface used in this paper contains two equilibrium points and adopts an indirect method, which greatly reduces the computational complexity. The stability and anti-unwinding performance have been proven. The simulation results have verified the effectiveness of the control method and we have compared it with the general linear sliding mode. The results show that the control method proposed in this paper is more stable, has higher convergence accuracy and has anti-unwinding performance.
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