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research-article

A New Non-Singular Terminal Sliding Mode Controller For Rigid Spacecraft Attitude Tracking

[+] Author and Article Information
Zeng Wang

School of Electro-Mechanical Engineering, Xidian University, Xi'an 710071, China
zengwang@stu.xidian.edu.cn

Yuxin Su

School of Electro-Mechanical Engineering, Xidian University, Xi'an 710071, China
yxsu@mail.xidian.edu.cn

Liyin Zhang

School of Electro-Mechanical Engineering, Xidian University, Xi'an 710071, China
liyinzhang@stu.xidian.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4038094 History: Received January 19, 2017; Revised September 20, 2017

Abstract

This paper addresses the finite-time attitude tracking for rigid spacecraft with inertia uncertainties and external disturbances. Firstly, a new non-singular terminal sliding mode (NTSM) surface is proposed for singularity elimination. Secondly, a robust controller based on NTSM is designed to solve the attitude tracking problem. It is proved that the new NTSM can converge to zero within finite-time and the attitude tracking errors converge to an arbitrary small bound centered on equilibrium point within finite-time and then go to equilibrium point asymptotically. The appealing features of the proposed control are fast convergence, high precision, strong robustness and easy implementation. Simulations verify the effectiveness of the proposed approach.

Copyright (c) 2017 by ASME
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