Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results

被引：7

作者：

Jorgensen, U. ^{[1
]}

Gravdahl, J. T. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

来源：

MODELING IDENTIFICATION AND CONTROL | 2011年 / 32卷 / 03期

关键词：

attitude control; observer design; nonlinear control; experiments; RIGID-BODY;

D O I：

10.4173/mic.2011.3.3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically stable in the sense of Lyapunov. Due to cases where spacecraft do not have angular velocity measurements, an estimator for the generalized velocity is derived and asymptotic stability is proven for the observer. The approach is tested on an experimental platform with a sphere shaped Autonomous Underwater Vehicle SATellite: AUVSAT, developed at the Norwegian University of Science and Technology.

引用

页码：113 / 121

页数：9

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