Volume 9, Issue 3 (Journal of Control, V.9, N.3 Fall 2015)                   JoC 2015, 9(3): 69-85 | Back to browse issues page

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Abedini M, Abedi M. Design of an Adaptive Sliding Control Algorithm without Unwinding, Singularity and Unstable Equilibrium Point Problems for Robust Attitude Tracking of a Satellite. JoC. 2015; 9 (3) :69-85
URL: http://joc.kntu.ac.ir/article-1-317-en.html
1- Iran university of science and technology
2- Shahid Beheshty university
Abstract:   (5019 Views)

A robust attitude tracking control algorithm is suggested in this paper in the presence of environmental disturbances and fault occurrence in the actuators. For this, it is assumed that the moments of inertia and the upper bounds of disturbances are unknown. Also, there is no data about the fault type. The presented solution is a novel idea in which the unknown parameters and the constant or slow changing disturbances (including the environmental effects and the actuators faults) are obtained using the adaptive updating law. The variable part of disturbances is compensated by the sliding mode control. The suggested control algorithm is continuous and has no unwinding and singularity problems. Also, the unstable equilibrium point and the ambiguity problem in the display of attitude determination outputs (the quaternions) have been solved. To develop this methodology, a three stages scenario is presented to calculate the satellite moment of inertia, the disturbances and the fault detection thresholds. This algorithm can also determine the faulty actuator. Using this feature, the fault extent in the wheels are determined and based on, the suitable correction actions are selected. In this paper, the stability of all designed algorithms is proved. At the end, different simulations are conducted to validate the algorithms. The results of these simulations verify the expected performance.

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Type of Article: Review paper | Subject: Special
Received: 2015/12/15 | Accepted: 2016/05/19 | Published: 2016/05/19

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