Sliding Mode Control Using Modified Rodrigues Parameters

May 19th, 2015
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Spacecraft pointing poses a complex problem involving nonlinear dynamics with either linear and/or nonlinear control laws. Primary control actuators usually include thrusters for rapid and coarse attitude maneuvers, and reaction wheels for slow and precise attitude maneuvers. Other types of control mechanisms include gravity-gradient stabilization and magnetic torquer assemblies.

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kinematikaSliding Mode Control Using Modified Rodrigues ParametersJohn L. Crassidis1F. Landis Markley2IntroductionSpacecraft pointing poses a complex problem involving nonlinear dynamics with either linear and/or nonlinear control laws. Primary control actuators usually include thrusters for rapid and coarse attitude maneuvers, and reaction wheels for slow and precise attitude maneuvers. Other types of control mechanisms include gravity-gradient stabilization and magnetic torquer assemblies.Control algorithms can be divided into open-loop systems and closed-loop(feedback) systems. Open-loop systems usually require a pre-determined pointing maneuver, and are typically determined using optimal control techniques which involve the solution of a twopoint-boundary-problem.An example of open-loop control is the time-optimal attitudemaneuver (e.g., see the excellent survey paper by Scrivener and Thompson [1]). Closed-loop systems can provide robustness with respect to spacecraft modeling uncertainties and unexpected disturbances.The control technique used in this note is based upon sliding mode (variable structure) control (see [2]). This type of control has been successfully applied for spacecraft pointing and regulation using both a Rodrigues (Gibbs vector) representation [3] and a quaternion representation [4]. An advantage of the quaternion representation is that singularities in the kinematic equations can be avoided.However, the use of quaternions requires

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