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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 187924, 9 pages
Research Article

Terminal Sliding Mode Control for Attitude Tracking of Spacecraft Based on Rotation Matrix

Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China

Received 6 June 2014; Revised 14 August 2014; Accepted 1 September 2014

Academic Editor: Sabri Arik

Copyright © 2015 Yong Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Two finite-time controllers without unwinding for the attitude tracking control of the spacecraft are investigated based on the rotation matrix, in which a novel modified nonsingular fast terminal sliding manifold is developed to keep tr. The first terminal sliding mode controller can compensate external disturbances with known bounds, while the second one can compensate external disturbances with unknown bounds by using an adaptive control method. Since the first terminal sliding mode controller is continuous, it is able to avoid chattering phenomenon. Theoretical analysis shows that both the two controllers can make spacecraft follow a time-varying reference attitude signal in finite time. Numerical simulations also demonstrate that the proposed control schemes are effective.