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

    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 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

    Keywords

    • METIS-113490
    • IR-99985

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  • 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).