Interpolating sliding mode control: an approach to high precision platform control with uncertain dynamics

The robustness properties of sliding mode control are exploited in achieving high precision manoeuvring of a space platform to which are attached flexible appendages exhibiting an arbitrary number of flexure modes. Continuous control actuators are assumed. The dynamics parameters are assumed to be unknown but to lie within reasonable practical limits. A new continuous form of discrete-time sliding mode control law is employed. The effects of increasing the iteration interval of the onboard algorithm and errors in the assumed forward path DC gain on the precision with which the platform follows a controlled rate slew demand are investigated. The degree of active flexure mode damping is also investigated