Control Lyapunov function optimal sliding mode controllers for attitude tracking of spacecraft

• Published in: Journal of the Franklin Institute Vol. 349; no. 2; pp. 456 - 475
• Main Authors: Pukdeboon, C., Zinober, A.S.I.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.03.2012; Elsevier
• Subjects: Applied sciences; Computer science; control theory; systems; Control system analysis; Control theory. Systems; Controllers; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Lyapunov functions; Nonlinearity; Optimal control; Optimization; Physics; Sliding mode; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Spacecraft; Tracking; Rigid bodies; Disturbance rejection; Attitude control; Variable structure control; Sliding mode; Quaternion; Spacecraft; Solid dynamic; Tracking task; Optimization; Uncertain system; Optimal control; Integral control; Inertia; Time optimal control; Output feedback; Lyapunov function
• ISSN: 0016-0032; 1879-2693
• DOI: 10.1016/j.jfranklin.2011.07.006

The attitude tracking control problem for a rigid spacecraft using two optimal sliding mode control laws is addressed. Integral sliding mode (ISM) control is applied to combine the first-order sliding mode with optimal control and is applied to quaternion-based spacecraft attitude tracking maneuvres with external disturbances and an uncertainty inertia matrix. For the optimal control part the control Lyapunov function (CLF) approach is used to solve the infinite-time nonlinear optimal control problem, whereas the Lyapunov optimizing control (LOC) method is applied to solve the finite-time nonlinear optimal control problem. The second method of Lyapunov is used to show that tracking is achieved globally. An example of multiaxial attitude tracking maneuvres is presented and simulation results are included to demonstrate and verify the usefulness of the proposed controllers.