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“Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results”

Authors: Ulrik Jørgensen and Jan T. Gravdahl,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 2011, Vol 32, No 3, pp. 113-121.

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Keywords: attitude control, observer design, nonlinear control, experiments

Abstract: In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically stable in the sense of Lyapunov. Due to cases where spacecraft do not have angular velocity measurements, an estimator for the generalized velocity is derived and asymptotic stability is proven for the observer. The approach is tested on an experimental platform with a sphere shaped Autonomous Underwater Vehicle SATellite: AUVSAT, developed at the Norwegian University of Science and Technology.

PDF PDF (1694 Kb)        DOI: 10.4173/mic.2011.3.3

DOI forward links to this article:
  [1] Honglei An, Jie Li, Jian Wang, Jianwen Wang and Hongxu Ma (2013), doi:10.1155/2013/328974
  [2] Lionel Magnis and Nicolas Petit (2016), doi:10.1109/TAC.2015.2501358
  [3] Lionel Magnis and Nicolas Petit (2017), doi:10.1016/j.automatica.2016.09.027
  [4] Lionel Magnis and Nicolas Petit (2017), doi:10.1016/j.ifacol.2017.08.1579
  [5] Chao Deng and Zhong Wu (2017), doi:10.1145/3175516.3175528

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  title={{Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results}},
  author={Jørgensen, Ulrik and Gravdahl, Jan T.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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