Terminal Sliding-Mode Controllers for Spacecraft-Integrated Attitude and Position Motion Using the Power of Twistors
Yifan Deng, Xu Wang
Abstract
This article investigates the sliding-mode control methods for spacecraft-integrated attitude and position motion by using the dual number model. To realize compact controller design and analysis by exploiting the inherent attitude and position coupling property of the dual model, the sliding modes are designed based on a newly defined quasi-power function in the framework of dual quaternion algebra, and the reaching laws are designed by using the unitization function of dual quaternions. Then, a basic terminal sliding-mode controller, a fast terminal sliding-mode controller, and a linear sliding-mode controller for the relative pose motion of the spacecraft are derived compactly through the twistor-based spacecraft pose motion model. The proof of the Lyapunov stability and the finite-time convergence are efficiently implemented. The theoretical analysis and simulation results demonstrate the effectiveness and elegance of the proposed methods.