Attitude Controller Design for Variable-Bend-Tail Vehicle

According to the problem of attitude control for variable-bend-tail vehicle, the mathematics models are established and the robust attitude control system is proposed based on variable structure control theory. The movement model of the bend tail section is derived from considering the coupling mutual action between tail and front of vehicle, and the nonlinear mathematics dynamic model of variable-bend-tail vehicle is built by introducing the semi-body frame and the semi-velocity frame adopting the muti-rigid body dynamics model method. The acceleration control system for variable-bend-tail vehicle is designed to improve the preciseness and robustness of the whole attitude control system by applying the tail deflection angular rate applying variable structure control theory. Finally an illustrative example is given to show preliminarily that the model is valid and that the attitude control scheme can meet the need of performance of system and have the capabilities of the celerity and robustness.