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Attitude control with realization of linear error dynamicsAn attitude control law is derived to realize linear unforced error dynamics with the attitude error defined in terms of rotation group algebra (rather than vector algebra). Euler parameters are used in the rotational dynamics model because they are globally nonsingular, but only the minimal three Euler parameters are used in the error dynamics model because they have no nonlinear mathematical constraints to prevent the realization of linear error dynamics. The control law is singular only when the attitude error angle is exactly pi rad about any eigenaxis, and a simple intuitive modification at the singularity allows the control law to be used globally. The forced error dynamics are nonlinear but stable. Numerical simulation tests show that the control law performs robustly for both initial attitude acquisition and attitude control.
Document ID
19930039527
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Paielli, Russell A.
(NASA Ames Research Center Moffett Field, CA, United States)
Bach, Ralph E.
(NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
August 16, 2013
Publication Date
February 1, 1993
Publication Information
Publication: Journal of Guidance, Control, and Dynamics
Volume: 16
Issue: 1
ISSN: 0731-5090
Subject Category
Spacecraft Design, Testing And Performance
Accession Number
93A23524
Distribution Limits
Public
Copyright
Other

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