Rigid Spacecraft Attitude Control Using Adaptive Non-singular Fast Terminal Sliding Mode
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Rigid Spacecraft Attitude Control Using Adaptive Non-singular Fast Terminal Sliding Mode Pyare Mohan Tiwari · S. Janardhanan · Mashuq un Nabi
Received: 11 June 2014 / Revised: 29 November 2014 / Accepted: 13 December 2014 © Brazilian Society for Automatics–SBA 2014
Abstract In this paper, a robust adaptive finite time sliding mode control method is proposed for the attitude control of a rigid spacecraft. The proposed control method is derived using a novel fast terminal sliding surface with reaching law. To eliminate the prior requirement of disturbances and uncertainties bounds, the proposed controller gains are derived by the adaptive estimate laws. The presented adaptive non-singular fast terminal sliding mode controller is faster, robust, and continuous. Finite time stability with faster convergence speed is proved using the Lyapunov stability. Simulations are conducted under the presence of external disturbances, inertia uncertainties, and constrained control input, and results are illustrated to show the effectiveness of the proposed method. Additionally, to show the efficacy of proposed control method over the recently reported control method, comparative analysis is presented also. Keywords Attitude control · Non-singular fast terminal sliding mode · Finite time convergence · Adaptive control
1 Introduction Attitude control system (ACS) plays a very important role in the success of space mission. The performance of ACS is P. M. Tiwari (B) Department of Electrical Engineering, Amity University, Noida, Uttar Pradesh, India e-mail: [email protected] S. Janardhanan · Mashuq un Nabi Department of Electrical Engineering, Indian Institute of Technology, New Delhi, India e-mail: [email protected] Mashuq un Nabi e-mail: [email protected]
measured in terms of the pointing accuracy, the convergence time to achieve desired attitude, the robustness against parametric uncertainty and external disturbances, and the energy consumption. As yet, different control methods have been explored to tackle this highly non-linear behaved problem (Abdelrahman and Park 2013; Chen and Huang 2009; Joshi et al. 1995; Kristiansen and Gravdahi 2009; Show et al. 2003). Sliding mode control (SMC) is a well-known robust control method, and it has proven its efficiency in weeding out the effects of system parameter uncertainty and external disturbances (Gao and Hung 1993; Utkin 1977). The initial applications of SMC for the attitude control purpose could be seen in (Fuyuto 1998; Jan and Chiou 2003; Lo and Chen 1993; Vadali 1986). In the conventional SMC design, the control law is derived using a linear sliding surface, and hence the asymptotic convergence is the major limitation of this approach. Recently, a finite-time control method, terminal sliding mode (TSM) has been introduced in (Venkat and Gulati 1991; Yu and Man 1996). The TSM control, in addition to bear the robustness similar to SMC, does promise the finite time convergence and the improved steady precision (Feng and Yu 2013). Since its emergence, the TSM-based control
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