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

摘要

We present a novel robust control scheme that deals with multi-body spacecraft attituderntracking problems. The control scheme consists of a radial basis function network (RBFN)rnand a robust controller. By using the finite time convergence property of the terminal slidingrnmode (TSM), we derive a new online learning algorithm for updating all the parameters ofrnthe RBFN that ensures the RBFN has fast approximation for the parameter uncertaintiesrnand external disturbances. We design a robust controller to compensate RBFNrnapproximation errors and realise the anticipative stability and performance properties. Werncan also achieve closed-loop system stability using Lyapunov stability theory.rnNo detailed knowledge of the non-linear dynamics of the spacecraft is required at any pointrnin the entire design process, and the proposed robust scheme is simple and effective and canrnbe applied to more complex systems. Simulation results demonstrate the good trackingrncharacteristics of the proposed control scheme in the presence of inertial uncertainties andrnexternal disturbances.