Research on attitude controller based on modified adaptive robust sliding mode in low-flying

Regarding inertia uncertainties, external disturbances and severe nonlinear coupling factors among the three channels including pitching, yawing and rolling at low-flying, controller design of wide adaptability could quickly and precisely realize the spacecraft attitude trackingcontrol in a limited time. Based on the nonlinear model of the aircraft attitude, a kind of modified controllers was designed based on a robust adaptive sliding mode controller in the finite time convergence among three channels, the controller is continuous and differentiable. The adaptive controller was improved to stop a large controller output. Simulation results show that the designed attitude controller can ensure that the aircraft quickly and accurately tracks the given command, and vibration phenomenon of sliding mode is strongly restrained. Furthermore, the fluctuation range of the attitude angle is less than 0.1% when external disturbances are added to systems, showing the controller has strong robustness.