Space RVD Terminal Approach to Attitude Tracking by Terminal Sliding Mode Control
Space RVD Terminal Approach to Attitude Tracking by Terminal Sliding Mode Control
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发表时间：
2008
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通讯作者：
Yu Meng-lun
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作者：
Yu Meng-lun
针对RVD末端接近相位的姿态控制问题，采用反馈线性理论对非线性姿态动力学进行线性化，推导出相变状态空间模型。在此基础上，提出了考虑扰动的终端滑模控制理论。在此基础上，提出了一种姿态跟踪控制器，使状态跟踪误差在有限时间内收敛于零。通过算例，控制结果满足终端时间约束，跟踪误差收敛于零，证明了该控制器的鲁棒性。
For the attitude control problem of terminal approach phase of RVD,the feedback linear theory was adopted to linearize nonlinear attitude dynamics,and a phase-variable states space model was deduced.The terminal sliding mode control theory considering the disturbances was used on the basis of the deduced model.Furthermore,this paper introduces a controller which implements the attitude tracking and controls the states tracking errors convergent to zero in the finite time.For the example given,the control results satisfy the terminal time constrain and the tracking errors were convergent to zero,and this demonstrates that the controller is robust.