Equations of motion for the triaxial attitude control testbed

The triaxial attitude control testbed has been developed as part of a research program on spacecraft multibody rotational dynamics and control. In this paper, equations of motion are derived and presented in various forms. Actuation mechanisms are incorporated into the models including: moment actuators that are fixed to the triaxial base body, as well as reaction wheel actuators and proof mass actuators that are fixed to the triaxial base body. The models also allow incorporation of unactuated auxiliary bodies that are constrained to move relative to the triaxial base body. The models expose the dynamic coupling between the rotational motion of the triaxial base body, the relative or shape motion of the auxiliary degrees of freedom, and dynamics associated with actuation mechanisms