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Least Squares Sliding Mode Control Tracking of Spacecraft Large Angle Maneuvers

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Abstract

A method for sliding mode control tracking of Euler parameter commands for large body angle maneuvers is presented. The closed-loop responses of the four attitude Euler parameters are specified as stable sliding surfaces in the error-error rate Euler parameter phase planes. The matrix coefficient of the typical discontinuous disturbance accommodation portion of the sliding mode control law is chosen as the configuration dependent transformation between body-fixed coordinate angular velocities and the quaternion rates. This choice of control law parameterization results in a globally asymptotically stable closed-loop response where the tracking performance matches the desired in a least squares sense. In addition, all inherent kinematic singularities are removed since the Euler parameters are directly tracked. Simulation results for a typical satellite system are presented exemplifying theoretical development of robustness to mass property and initial condition uncertainty.

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Authors and Affiliations

  1. Sandia National Laboratories, NM, Albuquerque, USA

    Rush D. Robinett

  2. Michigan Technological University, MI, Houghton, USA

    Gordon G. Parker

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  1. Rush D. Robinett
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  2. Gordon G. Parker
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Robinett, R.D., Parker, G.G. Least Squares Sliding Mode Control Tracking of Spacecraft Large Angle Maneuvers. J of Astronaut Sci 45, 433–450 (1997). https://doi.org/10.1007/BF03546401

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  • DOI: https://doi.org/10.1007/BF03546401

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