An adaptive terminal sliding mode based control law is proposed for spacecraft attitude tracking. A saturated function is introduced to avoid sigularity of the traditional terminal sliding mode, and the correspondence between the convergence time and domain of system states is explicitly given based on the concept of practical finite-time stability. To improve the system robusteness and simultaneously elimimate the chattering, a novel adaptive law is developed to estimate and compensate unknown disturbance. Considering the contraints in the process of attitude tracking, a logarithmic-form prescribed-performance term is introduced to ensure a desired transient response of the sliding mode surface and constrain the variation range of the tracking error as well as its first-order derivative. Numerical examples are presented to demonstrate that the control laws developed not only have a high control accuracy and response speed, but also avoid sigularity and chaterring, and thus have great significance in application.
MA Guangfu
,
ZHU Qinghua
,
WANG Pengyu
,
GUO Yanning
. Adaptive prescribed performance attitude tracking control for spacecraft via terminal sliding-mode technique[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018
, 39(6)
: 321763
-321763
.
DOI: 10.7527/S1000-6893.2018.21763
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