bserver Based Sliding Mode Attitude Control: Theoretical and Experimental Results

Abstract

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.

Angular velocity nonlinear observer from vector measurements

“…To address this issue, introducing a priori information in the estimation process is a valuable technique to filter-out noise from the estimates. For this reason, numerous observers using the Euler equations for a rigid body have been proposed to estimate angular velocity (or angular momentum, which is equivalent) from full attitude information [1,[12][13][14]. Besides this two-step approach, a more direct solution can be proposed.…”

Angular Velocity Nonlinear Observer From Single Vector Measurements

“…To address this issue, introducing a priori information in the estimation process allows one to filter-out noises from the estimates. Following this approach, numerous observers based on the Euler equations have been proposed to estimate angular velocity from full attitude information [1], [12], [13], [14].…”

Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench

“…However, the tendency of building smaller satellites and aircrafts limits the number of sensors and the on-board processing capability. So attitude control system requires computationally simple yet effective algorithms without sophisticated measurement instrumentation, particularly gyroscopes [10][11][12][13][14]. Gyroscopes provide direct angular rate measurements but are costly and heavy require significant power consumption, and have high failure tendencies.…”