Variable structure control of globally feedback-decoupled deformable vehicle maneuvers

Abstract

The use of Cayley-Rodrigues attitude parameters as kinematic variables is shown to yield a globally linearized and decoupled model of the equations of motion of a deformable body, where the structural deformation state appears only in the coefficients of the inverse transformation. It is shown how commanded multiaxial attitude maneuvers can be encoded as switching surfaces for a variable-structure control implementation of the corresponding computed slew torques, automatically modulated in respnse only to detected angular rate error signs, for accurate tracking in the presence of separately damped or even uncontrolled (but stable) structural deformations.