Attitude quaternion control in the final approach phase of rendezvous and docking by sliding mode control

For the relative attitude control problem in phasing period of rendezvous and docking, attitude quaternion was adopted to describe the dynamic model and the kinematics equation of spacecraft. Then attitude quaternion PD feedback was designed to control the relative attitude successfully. On this basis, the sliding mode control was researched and used in relative attitude control to improve accuracy and build up anti-jamming ability. The simulation results demonstrate that sliding mode controller is more superior in rapidity and robustness.