Fuzzy Sliding Mode Controller Design for Spacecraft Attitude Tracking in Terms of Quaternion
作者单位：Electronic DepartmentEngineering FacultyUniversity of Isfahan Electrical and Robotic Engineering FacultyShahrood University of Technology
会议名称：《第二十七届中国控制会议》
会议日期：2008年
学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程]
关 键 词：Sliding mode control Fuzzy logic Lyapunov stability Spacecraft attitude tracking Quaternion
摘 要：In this paper a fuzzy sliding mode control（FSMC） for spacecraft attitude tracking in terms of quaternion is designed. For this purpose,at first,the spacecraft dynamic and kinematic equations based on quaternion are ***,the design procedure of related variable structure controller is *** prove the system stability in sliding mode and also to guarantee the convergence of quaternion vectors to desired state,a lemma is presented which is proved by using Lyapunov direct *** continuation,in order to improve the controller performance,tuning of the sliding mode gain is accomplished by using fuzzy logic ***,the proposed controller design is simulated on an assumed case study with uncertain parameters and external *** simulation results are provided to show the effectiveness of the method and its robustness to parameter uncertainties and disturbances.