Continuous Finite-Time Integral Sliding Mode Control for Attitude Stabilization

This brief proposes a novel continuous non-singular finite-time sliding mode control method for attitude stabilization problem of rigid body subject to external disturbances. Firstly, a nominal control law is presented to stabilize the attitude system without disturbances. Then, the novel sliding mode surface is designed as the angular momentum error between the real system and the nominal closed-loop system. Finally, the reaching law is designed based on multivariable super twisting algorithm for rejecting the disturbances and establishing the second-order sliding mode. The proposed method can make the attitude converge to the equilibrium point in finite time. Unlike the existing integral sliding mode methods, the proposed method can achieve second-order sliding mode and provide continuous control action. A simulation example is used to demonstrate the effectiveness of the proposed results.