Eigenrotation-based rigid body tracking system with sliding mode controller

Li Tiejun; Huang Hai

Volume 36 Issue 6

Jun. 2010

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Article Contents

Abstract

References

Journal of Beijing University of Aeronautics and Astronautics > 2010 > 36(6): 681-685.

ZHANG Jun, ZHANG Qi-shan, DENG Qiu-linet al. On the Slot Reservation Selection Algorithm aboutSelf-Organized TDMA VHF Data Link[J]. Journal of Beijing University of Aeronautics and Astronautics, 2001, 27(5): 514-517. (in Chinese)

Citation:

Li Tiejun, Huang Hai. Eigenrotation-based rigid body tracking system with sliding mode controller[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(6): 681-685. (in Chinese)

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Eigenrotation-based rigid body tracking system with sliding mode controller

Received Date: 21 Apr 2009
Publish Date: 30 Jun 2010

Abstract

Abstract

A sliding mode control(SMC) method was derived and applied to a rigid body attitude tracking system in the presence of dynamic uncertainties which included uncertainties and variations in its inertia parameters, uncertainties in its control actuator alignment and external disturbances. A feedback linearization was used to obtain the required angular acceleration according to eigen-rotation. The SMC algorithm was derived to make the angular acceleration of the rigid body track the required angular acceleration. Simulation results show that the proposed SMC law is globally stabilizing and insensitive to uncertainties and variations in its inertia parameters, uncertainties in its control actuator alignment and external disturbances.
- feedback of linearization,
- sliding mode control,
- attitude control,
- eigen-rotation,
- robustness