Sliding mode control of spatial mechanical systems decoupling translation and rotation

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

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 proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

80 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 language	English
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Division
Subtitle of host publication	presented at the 1997 ASME International Mechanical Engineering Congress and Exposition, November 16-21, 1997, Dallas, Texas
Editors	Giorgio Rizzoni
Place of Publication	New York, N.Y.
Publisher	American Society of Mechanical Engineers (ASME)
Pages	545-554
Number of pages	10
ISBN (Print)	9780791818244
Publication status	Published - 16 Nov 1997
Event	ASME International Mechanical Engineering Congress & Exposition, IMECE 1997 - Dallas, United States Duration: 16 Nov 1997 → 21 Nov 1997

Publication series

Name	ASME Dynamic Systems and Control Division
Publisher	American Society of Mechanical Engineers
Volume	61

Conference

Conference	ASME International Mechanical Engineering Congress & Exposition, IMECE 1997
Abbreviated title	IMECE
Country	United States
City	Dallas
Period	16/11/97 → 21/11/97

Keywords

METIS-113490
IR-99985

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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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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.",

keywords = "METIS-113490, IR-99985",

author = "Goeree, {Barry B.} and Fasse, {Ernest D.} and Tiernego, {Martin J.L.} and Broenink, {Jan F.}",

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series = "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 proceeding › Conference contribution › Academic › peer-review

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N2 - 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.

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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).