Linearization of attitude-control error dynamics

Author

Bach, Ralph ; Paielli, Russell

Author_Institution

Ames Res. Center, NASA, Moffett Field, CA, USA

Volume

38

Issue

10

fYear

1993

fDate

10/1/1993 12:00:00 AM

Firstpage

1521

Lastpage

1525

Abstract

Some useful properties of direction-cosine and quaternion attitude formulations that include specification of attitude error and the inversion of rigid-body rotational dynamics are reviewed. The inversion procedure is then applied to a measure of attitude error to realize a new model-follower control system that exhibits linear attitude-error dynamics. Error analyses and simulation results for spacecraft attitude-control systems are presented to demonstrate the more robust performance obtainable from an exact linear-error formulation over that obtained from either direction-cosine or quaternion formulations with simple linear feedback control laws

Keywords

attitude control; linearisation techniques; model reference adaptive control systems; space vehicles; attitude-control error dynamics; direction-cosine; inversion; model-follower control system; quaternion attitude formulations; rigid-body rotational dynamics; spacecraft; Aerodynamics; Aerospace control; Control systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Quaternions; Robot control; Robot kinematics; Rotation measurement;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.241567

Filename

241567