Adaptive Terminal Sliding Mode Control for the Combined Spacecraft Takeover Control

摘要

This paper introduces an adaptive terminal sliding mode controller to solve the problem of combined spacecraft takeover control. In order to improve the convergence speed of sliding mode controller, the terminal sliding mode control method is used. Because the quaternion is not directly related to the control torque, a resource matrix g_f(X) is introduced to reflect the quaternion information in the expression of torque. Considering the external disturbance, adaptive laws are used to estimate the unknown parameters online and compensate the uncertainty of system. Three kinds of controllers, TSMC(without g_f(X)), TSMC and ATSMC, are conducted for comparison and the simulations show that considering the external disturbance, the adaptive terminal sliding mode control can effectively promote the quaternion and angular velocity of combined spacecraft convergent to the expected states.