Design of Attitude Control Systems for CubeSat-Class Nanosatellite

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td align="left">Name</td><td align="center">Values</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td align="left"> Sliding surface gain </td><td align="center">0.00001, 100</td></tr><tr><td align="left"> Fuzzy membership function </td><td align="center">1, 1</td></tr><tr><td align="left"> Adaptive gains  <svg height="16.450001" id="M110" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 71.875 16.450001" width="71.875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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t90 31.5q54 0 97.5 -35.5t65 -78.5t28.5 -84zM359 234q0 84 -90 191q-47 -17 -74 -47q-81 -89 -81 -200q0 -71 32.5 -109.5t72.5 -38.5q47 0 80 33t46.5 77.5t13.5 93.5z" id="x1D6FF"></path></g><g transform="matrix(.017,-0,0,-.017,8.851,12.162)"><path d="M95 130q31 0 61 -30t30 -78q0 -53 -38 -87.5t-93 -51.5l-11 29q77 31 77 85q0 26 -17.5 43t-44.5 24q-4 0 -8.5 6.5t-4.5 17.5q0 18 15 30t34 12z" id="x2C"></path></g><g transform="matrix(.017,-0,0,-.017,18.387,12.162)"><path d="M764 650l-7 -26q-61 -10 -91.5 -22.5t-76.5 -48.5l-235 -184q104 -152 208 -276q31 -37 54.5 -48.5t68.5 -16.5l-7 -28h-156q-138 170 -213 284q-19 29 -33.5 35t-33.5 -7l-29 -173q-15 -75 -5.5 -90.5t74.5 -20.5l-5 -28h-260l7 28q58 5 74 21.5t30 89.5l70 378
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<g transform="matrix(.012,-0,0,-.012,31.588,16.25)"><path d="M515 96q-37 -44 -84.5 -76t-71.5 -32q-12 0 -18 7t-6 34t10 75l19 89h-2q-87 -113 -181 -176q-43 -29 -83 -29q-46 0 -46 63q0 31 9 67l52 222q7 36 -1 36q-10 0 -76 -50l-13 24q47 45 92 71.5t67 26.5q18 0 21 -16.5t-8 -65.5l-56 -242q-16 -67 13 -67q41 0 114 74
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q0 69 34.5 127.5t92.5 95.5q77 49 144 49q39 0 64.5 -15.5t25.5 -39.5z" id="x1D70D"></path></g><g transform="matrix(.017,-0,0,-.017,55.067,12.162)"><path d="M95 130q31 0 61 -30t30 -78q0 -53 -38 -87.5t-93 -51.5l-11 29q77 31 77 85q0 26 -17.5 43t-44.5 24q-4 0 -8.5 6.5t-4.5 17.5q0 18 15 30t34 12z" id="x2C"></path></g><g transform="matrix(.017,-0,0,-.017,64.604,12.162)"><path d="M401 397q0 -24 -24 -40q-18 -13 -31 3q-36 45 -93 45q-48 0 -86.5 -43t-51.5 -112l206 6l-8 -48l-203 6v-25q0 -68 26.5 -107t73.5 -39q73 0 148 64l16 -22q-40 -44 -91 -70.5t-102 -26.5q-75 0 -116.5 45t-41.5 136q0 125 99 208q36 30 87 50.5t93 20.5q46 0 72.5 -16
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</svg></td><td align="center">0.1, 0.36, 0.01, 2</td></tr><tr><td align="left" colspan="2"><hr/></td></tr><tr><td align="left"> AFSMC parameter  <svg height="16.3125" id="M111" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 15.0125 16.3125" width="15.0125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M480 416q0 -21 -18 -41q-9 -11 -17 -7q-20 9 -42 9q-62 0 -140 -78q23 -69 88 -192q17 -31 27 -42t20 -11q16 0 62 46l17 -20q-64 -92 -119 -92q-35 0 -70 66q-41 73 -84 187q-36 -30 -62 -61q-27 -115 -35 -172q-41 -8 -78 -20l-6 6l140 612q7 28 0.5 34t-37.5 7l-34 1
l5 26q38 4 74 13.5t57 17t25 7.5q12 0 4 -32l-104 -443h2q35 38 97 93q39 35 65.5 56t62 41.5t58.5 20.5q19 0 30.5 -10t11.5 -22z" id="x1D458"></path></g>
<g transform="matrix(.012,-0,0,-.012,8.612,16.25)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg></td><td align="center">0.004</td></tr><tr><td align="left" colspan="2"><hr/></td></tr><tr><td align="left"> AFSMC parameter  <svg height="16.3125" id="M112" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 15.0125 16.3125" width="15.0125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M480 416q0 -21 -18 -41q-9 -11 -17 -7q-20 9 -42 9q-62 0 -140 -78q23 -69 88 -192q17 -31 27 -42t20 -11q16 0 62 46l17 -20q-64 -92 -119 -92q-35 0 -70 66q-41 73 -84 187q-36 -30 -62 -61q-27 -115 -35 -172q-41 -8 -78 -20l-6 6l140 612q7 28 0.5 34t-37.5 7l-34 1
l5 26q38 4 74 13.5t57 17t25 7.5q12 0 4 -32l-104 -443h2q35 38 97 93q39 35 65.5 56t62 41.5t58.5 20.5q19 0 30.5 -10t11.5 -22z" id="x1D458"></path></g>
<g transform="matrix(.012,-0,0,-.012,8.612,16.25)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg></td><td align="center">0.0025</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

AFSMC controller parameters for air bearing testing.

Journal of Control Science and Engineering

tab4

Table 4

Table 4: Design of Attitude Control Systems for CubeSat-Class Nanosatellite 