Abstract. This research studies the robust optimal output feedback sliding mode control law design for attitude tracking maneuvers of a rigid spacecraft. The proposed control technique, which combines the first-order sliding mode control (SMC) concept and control Lyapunov function (CLF) approach, is applied to quaternion-based attitude tracking with external disturbances and an uncertainty inertia matrix. For the CLF-based optimal controller design the state-dependent Riccati equation (SDRE) method is used in the design procedure to determine a suitable CLF. The Sontag formula is then applied to construct a new optimal controller. The SDRE compensator technique is employed to estimate the system state. The second method of Lyapunov is used to show that the stability of the closed-loop system and external disturbance attenuation can be ensured. An example of multiaxial attitude maneuvers is presented and simulation results are given to verify the usefulness of the proposed controller.

Received: February 6, 2012

AMS Subject Classification: 93D05, 93D09, 49K99

Key Words and Phrases: attitude tracking control, control Lyapunov function, state-dependent Riccati equation, sliding mode control

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