Linear Continuous Sliding Mode-based Attitude Controller with Modified Rodrigues Parameters Feedback

TL;DR

This paper presents a linear continuous sliding mode controller using modified Rodrigues parameters for attitude control, ensuring asymptotic stability and validated through numerical examples.

Contribution

It introduces a novel attitude control system with a linear continuous sliding mode controller based on modified Rodrigues parameters, guaranteeing asymptotic stability.

Findings

Sliding mode exists asymptotically

System equilibrium is asymptotically stable

Numerical examples confirm effectiveness

Abstract

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.