Adaptive Sliding Mode Control of Large Attitude Angle Maneuver for Spacecraft

A kind of adaptive sliding mode control algorithm is proposed in the presence of severe nonlinearity,inertia matrix uncertainty and external disturbances during the large attitude angle maneuver of the spacecraft.Modified Rodrigues parameters(MRP) is adopted to establish the model of the spacecraft,in order to eliminate the singularity of Euler angles and the constraints of the quaternion.A class of sliding mode is selected in terms of the error MRP.Based on a Lyapunov function candidate,the control algorithm and adaptive algorithm are derived,which are absolutely independent of the parameters of the dynamic plant.Theoretical analysis and simulation results show that the proposed control algorithm is globally stabilizing and robust to the inertia matrix uncertainty and external disturbances.