Direct inversion of rigid-body rotational dynamicsThe global linearization (inversion) of rigid-body rotational dynamics is reviewed, and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simplify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given.
Document ID
19910045533
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Bach, Ralph (NASA Ames Research Center Moffett Field, CA, United States)
Paielli, Russell (NASA Ames Research Center Moffett Field, CA, United States)