Rigid Spacecraft Attitude Control Using Adaptive Non-singular Fast Terminal Sliding Mode

Abstract

In this paper, a robust adaptive finite time sliding mode control method is proposed for the attitude control of a rigid spacecraft. The proposed control method is derived using a novel fast terminal sliding surface with reaching law. To eliminate the prior requirement of disturbances and uncertainties bounds, the proposed controller gains are derived by the adaptive estimate laws. The presented adaptive non-singular fast terminal sliding mode controller is faster, robust, and continuous. Finite time stability with faster convergence speed is proved using the Lyapunov stability. Simulations are conducted under the presence of external disturbances, inertia uncertainties, and constrained control input, and results are illustrated to show the effectiveness of the proposed method. Additionally, to show the efficacy of proposed control method over the recently reported control method, comparative analysis is presented also.