High Precision Control of Rotating Payload Satellite considering Static and Dynamic Unbalanced Disturbance

Figure 9

RPS system attitude results under the proposed controller.

(a) Satellite platform attitude errors

(b) Satellite platform angular velocity errors

(c) Satellite platform nutation trajectory

(d) Control torques

(e) Sliding mode surface

(f) Estimation errors of observer

(g) Payload nutation trajectory

(h) Nutation angles

(i) Payload angular velocity errors