Control Lyapunov function optimal sliding mode controllers for attitude tracking of spacecraft |
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| Authors: | C Pukdeboon ASI Zinober |
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| Institution: | 1. School of Engineering, Institute of Automation, Qufu Normal University, Shandong Province 273165, China;2. Institute of Automation, Qufu Normal University, Shandong Province 273165, China;1. Frankfurt Institute for Advanced Studies, Ruth-Moufang-Strasse 1, Frankfurt am Main 60438, Germany;2. CUCEI, Universidad de Guadalajara, Guadalajara C.P.44430, Mexico;1. The Ohio State University, Columbus, USA;2. CINVESTAV-IPN, Cd. de Mexico, Mexico;3. CICESE, Ensenada, Mexico;4. INRIA, Lille, France |
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| Abstract: | The attitude tracking control problem for a rigid spacecraft using two optimal sliding mode control laws is addressed. Integral sliding mode (ISM) control is applied to combine the first-order sliding mode with optimal control and is applied to quaternion-based spacecraft attitude tracking maneuvres with external disturbances and an uncertainty inertia matrix. For the optimal control part the control Lyapunov function (CLF) approach is used to solve the infinite-time nonlinear optimal control problem, whereas the Lyapunov optimizing control (LOC) method is applied to solve the finite-time nonlinear optimal control problem. The second method of Lyapunov is used to show that tracking is achieved globally. An example of multiaxial attitude tracking maneuvres is presented and simulation results are included to demonstrate and verify the usefulness of the proposed controllers. |
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