Adaptive Sliding Mode Attitude Tracking Control for Rigid Spacecraft Considering the Unwinding Problem

Baoyu Huo, Mingjun Du () and Zhiguo Yan
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Baoyu Huo: School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China
Mingjun Du: School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China
Zhiguo Yan: School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China

Mathematics, 2023, vol. 11, issue 20, 1-16

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.

Keywords: attitude control; unwinding problem; sliding mode control; adaptive control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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