Modeling and control of vertically launching parallel vehicle

In order to effectively control the motion of vertically launching parallel vehicle, an attitude control method for vertically launching parallel vehicle was presented. A singularity of Euler kinematical equations was analyzed, and kinematical equations of attitude motion were given based on quaternion method. An attitude dynamical model of vertically launching parallel vehicle was constituted. Mathematical models of thrust vector control were presented for vertically launching parallel vehicle. Based on these mathematical models, control efficiencies were contrasted for different thrust vector control. And with a view to convergence of quaternion, switching functions of attitude control system were given. With a view of robust stability for conditioned uncertainty, an attitude control law was designed using sliding mode control theory. Simulation results show that this method can implement efficiently attitude control for vertically launching parallel vehicle.