Title :
Model independent eigenaxis maneuvers using quaternion feedback
Author :
Lawton, Jonathan ; Beard, Randal W.
Author_Institution :
Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA
Abstract :
The main contribution of the paper is the derivation of a model independent feedback control law that causes a rigid body to execute a near eigenaxis maneuver. The degree of approximation is a function of the control gains and the initial attitude error. Using passivity techniques, the dependence of the control strategy on velocity information is eliminated. The technique used to derive the control strategy is a novel orthogonal decomposition of the unit quaternion into a component along the direction of the eigenaxis and a component that is orthogonal to that direction
Keywords :
Lyapunov methods; aerospace control; feedback; matrix algebra; space vehicles; control gains; degree of approximation; initial attitude error; model independent eigenaxis maneuvers; orthogonal axes decomposition; passivity techniques; quaternion feedback; rigid spacecraft; Adaptive control; Attitude control; Error correction; Feedback control; Motion analysis; Quaternions; Velocity control; Velocity measurement;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946101
