2020/09/14 by Gui, Haichao
#FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2009.06241
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using attitude and angular velocity estimates from an arbitrary stable stand-alone observer. Rigorous analysis shows that the controller ensures robust stability of the entire closed-loop system as long as the observer yields state estimates with uniformly ultimately bounded estimation errors. In addition, a sequential Lyapunov analysis is utilized to obtain a convergent sequence of analytical, successively tighter upper bounds on the steady-state tracking error. Therefore, our results can be used to predict steady-state performance bounds given selected gains or facilitate gain selection given steady-state performance bounds. Numerical examples demonstrate the utility of the proposed theory.