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Volume 10 Issue 6
Jun.  2023

IEEE/CAA Journal of Automatica Sinica

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Article Contents
W. Chen and  Q. L. Hu,  “Sliding-mode-based attitude tracking control of spacecraft under reaction wheel uncertainties,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 6, pp. 1475–1487, Jun. 2023. doi: 10.1109/JAS.2022.105665
Citation: W. Chen and  Q. L. Hu,  “Sliding-mode-based attitude tracking control of spacecraft under reaction wheel uncertainties,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 6, pp. 1475–1487, Jun. 2023. doi: 10.1109/JAS.2022.105665

Sliding-Mode-Based Attitude Tracking Control of Spacecraft Under Reaction Wheel Uncertainties

doi: 10.1109/JAS.2022.105665
Funds:  This work was supported in part by the National Natural Science Foundation of China (61960206011, 62227812), the Beijing Natural Science Foundation (JQ19017), the National Key Basic Research Program “Gravitational Wave Detection” Project (2021YFC2202600), and the Beijing Advanced Discipline Center for Unmanned Aircraft System
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  • The attitude tracking operations of an on-orbit spacecraft with degraded performance exhibited by potential actuator uncertainties (including failures and misalignments) can be extraordinarily challenging. Thus, the control law development for the attitude tracking task of spacecraft subject to actuator (namely reaction wheel) uncertainties is addressed in this paper. More specially, the attitude dynamics model of the spacecraft is firstly established under actuator failures and misalignment (without a small angle approximation operation). Then, a new non-singular sliding manifold with fixed time convergence and anti-unwinding properties is proposed, and an adaptive sliding mode control (SMC) strategy is introduced to handle actuator uncertainties, model uncertainties and external disturbances simultaneously. Among this, an explicit misalignment angles range that could be treated herein is offered. Lyapunov-based stability analyses are employed to verify that the reaching phase of the sliding manifold is completed in finite time, and the attitude tracking errors are ensured to converge to a small region of the closest equilibrium point in fixed time once the sliding manifold enters the reaching phase. Finally, the beneficial features of the designed controller are manifested via detailed numerical simulation tests.


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    • A novel sliding manifold is presented to ensure fixed settling time for the sliding phase and circumvent the unwinding issue of the quaternion-based expressions
    • An adaptive sliding mode attitude tracking controller is developed to deal with spacecraft actuator uncertainties (including failures and misalignments), bounded external disturbances and inertia uncertainty simultaneously
    • A definitive actuator misalignment angle range that can be handled here without small angle approximation operation is provided via some algebraic analyses


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