Event-triggered sliding mode control for a cableless microsatellite with input delay and quantization

Abstract

This paper proposes a solution to the attitude control problem for a cableless microsatellite with input delay and quantized communication using event-triggered sliding mode control theory. The aim is to reduce the communication burden. The attitude dynamic is developed based on the unit quaternion, taking into account the inertial uncertainties, external disturbance uncertainties, and input delay. Based on the developed model, a sliding mode controller with input delay compensation and quantized input is proposed to ensure that the closed-loop system is uniformly ultimately bounded stable. The hybrid quantizer signal, based on the compensated event-triggered sliding mode controller, is updated only at an inconsecutive discrete instant. Thus, the communication burden can be significantly reduced, and the impact of input delay on the system can be effectively suppressed. The method's stability and effectiveness are ultimately confirmed through numerical simulation.