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Robust attitude tracking control scheme for a multi-body spacecraft using a radial basis function network and terminal sliding mode

Published online by Cambridge University Press:  04 September 2014

CHANGQING YUAN ,
YANHUA ZHONG ,
JINGRUI ZHANG ,
HONGBUO LI ,
GUOJUN YANG  and
YING SHEN
CHANGQING YUAN
Affiliation:
Aviation University of Air Force, Changchun 130022, P. R. China Email: ycq02@mails.tsinghua.edu.cn; yanggj@163.com; shenying@163.com
YANHUA ZHONG
Affiliation:
Department Of Electronics and Information Technology, Jiangmen Polytechnic, Jiangmen, 529000, P. R. China Email: zhflowers@163.com
JINGRUI ZHANG
Affiliation:
Beijing Institute of Technology, School of Aerospace Science Engineering, Beijing 100081, P. R. China Email: ruierchat@yahoo.com
HONGBUO LI
Affiliation:
Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, P. R. China Email: hbli@mail.tsinghua.edu.cn
GUOJUN YANG
Affiliation:
Aviation University of Air Force, Changchun 130022, P. R. China Email: ycq02@mails.tsinghua.edu.cn; yanggj@163.com; shenying@163.com
YING SHEN
Affiliation:
Aviation University of Air Force, Changchun 130022, P. R. China Email: ycq02@mails.tsinghua.edu.cn; yanggj@163.com; shenying@163.com
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Abstract

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We present a novel robust control scheme that deals with multi-body spacecraft attitude tracking problems. The control scheme consists of a radial basis function network (RBFN) and a robust controller. By using the finite time convergence property of the terminal sliding mode (TSM), we derive a new online learning algorithm for updating all the parameters of the RBFN that ensures the RBFN has fast approximation for the parameter uncertainties and external disturbances. We design a robust controller to compensate RBFN approximation errors and realise the anticipative stability and performance properties. We can also achieve closed-loop system stability using Lyapunov stability theory.

No detailed knowledge of the non-linear dynamics of the spacecraft is required at any point in the entire design process, and the proposed robust scheme is simple and effective and can be applied to more complex systems. Simulation results demonstrate the good tracking characteristics of the proposed control scheme in the presence of inertial uncertainties and external disturbances.

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