Linear Continuous Sliding Mode-based Attitude Controller with Modified Rodrigues Parameters Feedback
This paper addresses the problem of ensuring stable attitude control for systems using modified Rodrigues parameters, which is relevant for aerospace and robotics applications.
This paper designs an attitude control system using a linear continuous sliding mode controller with modified Rodrigues parameters feedback. The controller ensures the asymptotic existence of sliding motion and guarantees the asymptotic stability of the system's equilibrium point.
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion asymptotically. Besides, the attitude control system equilibrium point is proved to have an asymptotic stability guarantee through further analysis. This stability analysis is conducted since the sliding mode existence on the designed sliding surface does not imply the stability guarantee of the system's equilibrium. This paper ends with some numerical examples that confirm the effectiveness of the designed attitude control system.