This article presents non-linear and adaptive sliding mode control (SMC) design for attitude tracking offlexible spacecraft in situations when there exist uncertainties, external disturbances, and input saturation constraints. In this approach, the function approximation technique is employed to represent the disturbances and uncertainties with finite combinations of some basis functions. Based on the backstepping technique, an adaptive SMC law for attitude tracking is first derived. In the closed-loop system, the roll angle, angle of pitch, and yaw angle trajectories asymptotically follow the reference output trajectories. To cope with the limitations of control saturation, a modified control design is given, and the stability of the closed-loop system is also verified. An additional updating law is employed for the derivative of singularity-free attitude tracking law as well, in which the possible singularity problem of the estimated control gains in the existing adaptive control schemes can be removed. Numerical simulation is conducted for the attitude tracking of a flexible spacecraft, and the results demonstrate the effectiveness and feasibility of the control strategy.


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    Title :

    Adaptive sliding mode backstepping control for attitude tracking of flexible spacecraft under input saturation and singularity


    Additional title:

    Adaptive, gleitende Lage-Regelung flexibler Luftahrzeuge bei Eingangssättigung und Singularität


    Contributors:
    Xiao, B. (author) / Hu, Q.L. (author) / Ma, G. (author)


    Publication date :

    2010


    Size :

    16 Seiten, 7 Bilder, 2 Tabellen, 30 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English