Sliding mode control of spatial mechanical systems decoupling translation and rotation

Barry B. Goeree, Ernest D. Fasse, Martin J.L. Tiernego, Jan F. Broenink

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)
72 Downloads (Pure)

Abstract

This paper looks at the robust trajectory control of spatial mechanical systems using sliding mode techniques. Two distinctions of the proposed method from reported methods are: (1) The measure of attitudinal error used is intrinsically defined, Euclidean-geometric, and intuitive. From Euler's theorem it follows that given a desired and actual attitude of a rigid body there exists an axis and angle of rotation relating the two attitudes. This defines a relative rotation vector, which is used as an intrinsically defined, intuitive measure of error. Reported methods use algebraic differences of entities such as generalized coordinates representing attitude. While functionally correlated to attitudinal error, these measures are not intrinsically defined. (2) A novel, dynamically nonlinear sliding function is used that results in a simple control law. The parameters of this function are dynamically and geometrically intuitive. Simulation results are given for a spacecraft tracking a complex desired trajectory.
Original languageEnglish
Title of host publicationProceedings of the ASME Dynamic Systems and Control Division
Subtitle of host publicationpresented at the 1997 ASME International Mechanical Engineering Congress and Exposition, November 16-21, 1997, Dallas, Texas
EditorsGiorgio Rizzoni
Place of PublicationNew York, N.Y.
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages545-554
Number of pages10
ISBN (Print)9780791818244
Publication statusPublished - 16 Nov 1997
EventASME International Mechanical Engineering Congress & Exposition, IMECE 1997 - Dallas, United States
Duration: 16 Nov 199721 Nov 1997

Publication series

NameASME Dynamic Systems and Control Division
PublisherAmerican Society of Mechanical Engineers
Volume61

Conference

ConferenceASME International Mechanical Engineering Congress & Exposition, IMECE 1997
Abbreviated titleIMECE
CountryUnited States
CityDallas
Period16/11/9721/11/97

Fingerprint

Sliding mode control
Trajectories
Spacecraft

Keywords

  • METIS-113490
  • IR-99985

Cite this

Goeree, B. B., Fasse, E. D., Tiernego, M. J. L., & Broenink, J. F. (1997). Sliding mode control of spatial mechanical systems decoupling translation and rotation. In G. Rizzoni (Ed.), Proceedings of the ASME Dynamic Systems and Control Division: presented at the 1997 ASME International Mechanical Engineering Congress and Exposition, November 16-21, 1997, Dallas, Texas (pp. 545-554). (ASME Dynamic Systems and Control Division; Vol. 61). New York, N.Y.: American Society of Mechanical Engineers (ASME).
Goeree, Barry B. ; Fasse, Ernest D. ; Tiernego, Martin J.L. ; Broenink, Jan F. / Sliding mode control of spatial mechanical systems decoupling translation and rotation. Proceedings of the ASME Dynamic Systems and Control Division: presented at the 1997 ASME International Mechanical Engineering Congress and Exposition, November 16-21, 1997, Dallas, Texas. editor / Giorgio Rizzoni. New York, N.Y. : American Society of Mechanical Engineers (ASME), 1997. pp. 545-554 (ASME Dynamic Systems and Control Division).
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Goeree, BB, Fasse, ED, Tiernego, MJL & Broenink, JF 1997, Sliding mode control of spatial mechanical systems decoupling translation and rotation. in G Rizzoni (ed.), Proceedings of the ASME Dynamic Systems and Control Division: presented at the 1997 ASME International Mechanical Engineering Congress and Exposition, November 16-21, 1997, Dallas, Texas. ASME Dynamic Systems and Control Division, vol. 61, American Society of Mechanical Engineers (ASME), New York, N.Y., pp. 545-554, ASME International Mechanical Engineering Congress & Exposition, IMECE 1997, Dallas, United States, 16/11/97.

Sliding mode control of spatial mechanical systems decoupling translation and rotation. / Goeree, Barry B.; Fasse, Ernest D.; Tiernego, Martin J.L.; Broenink, Jan F.

Proceedings of the ASME Dynamic Systems and Control Division: presented at the 1997 ASME International Mechanical Engineering Congress and Exposition, November 16-21, 1997, Dallas, Texas. ed. / Giorgio Rizzoni. New York, N.Y. : American Society of Mechanical Engineers (ASME), 1997. p. 545-554 (ASME Dynamic Systems and Control Division; Vol. 61).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Goeree BB, Fasse ED, Tiernego MJL, Broenink JF. Sliding mode control of spatial mechanical systems decoupling translation and rotation. In Rizzoni G, editor, Proceedings of the ASME Dynamic Systems and Control Division: presented at the 1997 ASME International Mechanical Engineering Congress and Exposition, November 16-21, 1997, Dallas, Texas. New York, N.Y.: American Society of Mechanical Engineers (ASME). 1997. p. 545-554. (ASME Dynamic Systems and Control Division).