Title :
Linearization of attitude-control error dynamics
Author :
Bach, Ralph ; Paielli, Russell
Author_Institution :
Ames Res. Center, NASA, Moffett Field, CA, USA
fDate :
10/1/1993 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
