Time-varying Sliding Mode Controls i

Time-varying Sliding Mode Controls in Rigid Spacecraft Attitude Tracking

To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of control input constraints. The sliding surfaces of the three types initially pass arbitrary initial values of the system, and then shift or rotate to reach predetermined ones. This way, the system trajectories are always on the sliding surfaces, and the system work is guaranteed to have robustness against paramour uncertainty and external disturbances all the time. The controller parameters are optimized by means of genetic algorithm to minimize the index consisting of the weighted index of squared error (ISE) of the system and the weighted penalty term of violation of control input constraint. The stability is verified with Lyapunov method. Compared with the conventional sliding mode control, simulation results show the proposed algorithm having better robustness against inertia matrix uncertainty and external disturbance torques.

作 者： Jin Yongqiang Liu Xiangdong Qiu Wei Hou Chaozhen   作者單位： Department of Automatic Control, Beijing Institute of Technology, Beijing 100081, China  刊 名： 中國航空學報(英文版)  ISTIC 英文刊名： CHINESE JOURNAL OF AERONAUTICS  年，卷(期)： 2008 21(4)  分類號： V2  關鍵詞： attitude tracking control   time-varying sliding mode   control input constraint   genetic algorithm  

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