Attitude tracking control of rigid spacecraft with disturbance compensation

Abstract

In this paper, a fast power reaching law based sliding mode control with disturbance observer is presented to solve attitude tracking control problem for rigid spacecraft with the existence of inertia uncertainty and external disturbance. A disturbance observer is presented to estimate the lumped disturbance with bounded change rate. Then, a sliding mode controller is designed based on the fast power reaching law with considering disturbance estimation to ensure the convergence of the attitude and angular velocity tracking errors. Lyapunov theorem is given to verify the stability of the closed-loop system. The effectiveness and feasibility of the proposed scheme are illustrated by the simulation results.