Academic Journals Database
Disseminating quality controlled scientific knowledge

Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results

Author(s): U. Jørgensen | J.T. Gravdahl

Journal: Modeling, Identification and Control
ISSN 0332-7353

Volume: 32;
Issue: 3;
Start page: 113;
Date: 2011;
VIEW PDF   PDF DOWNLOAD PDF   Download PDF Original page

Keywords: attitude control | observer design | nonlinear control

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.
Affiliate Program      Why do you need a reservation system?