Robust global bimodal rest-to-rest attitude control of rigid body using unit quaternion

2017 ◽  
Vol 354 (8) ◽  
pp. 3554-3573 ◽  
Author(s):  
Paulo P. M. Magro ◽  
João Y. Ishihara ◽  
Henrique C. Ferreira
Keyword(s):  
Rigid Body ◽  
Attitude Control ◽  
Unit Quaternion

Robust Attitude Control for a Rigid Body Spacecraft

2019 ◽  
Author(s):  
Mason E. Nixon ◽  
Joshua Schofield
Keyword(s):  
Rigid Body ◽  
Attitude Control

Rigid body attitude control with inclinometer and low-cost gyro measurements

2003 ◽  
Vol 49 (2) ◽  
pp. 151-159 ◽  
Author(s):  
Maruthi R. Akella ◽  
James T. Halbert ◽  
Gnana R. Kotamraju
Keyword(s):  
Rigid Body ◽  
Attitude Control ◽  
Low Cost ◽  
Body Attitude

scholarly journals Attitude control of rigid body with inertia uncertainty and saturation input

2017 ◽  
Vol 22 (01) ◽  
pp. 83-91 ◽  
Author(s):  
Xi Ma ◽  
Fuchun Sun ◽  
Hongbo Li ◽  
Bing He
Keyword(s):  
Rigid Body ◽  
Attitude Control

Maneuvering and Vibrations Control of a Free-Floating Space Robot with Flexible Arms

2011 ◽  
Vol 133 (5) ◽  
Author(s):  
Ramin Masoudi ◽  
Mojtaba Mahzoon
Keyword(s):  
Angular Momentum ◽  
Rigid Body ◽  
Attitude Control ◽  
Space Robot ◽  
Perturbation Approach ◽  
Motion Constraints ◽  
Kane’S Method ◽  
Kane's Method ◽  
Control Scheme ◽  
Flexible Arms

A free-floating space robot with four linkages, two flexible arms and a rigid end-effector that are mounted on a rigid spacecraft; is studied in this paper. The governing equations are derived using Kane’s method. The powerful tools of Kane’s approach in incorporating motion constraints have been applied in the dynamic model. By including the motion constraints in the kinematic and dynamic equations, a two way coupling between the spacecraft motion and manipulator motion is achieved. The assumed mode method is employed to express elastic displacements, except that the associated admissible functions are supplanted by quasicomparison functions. By a perturbation approach, the resulting nonlinear problem is separated into two sets of equations: one for rigid-body maneuvering of the robot and the other for elastic vibrations suppression and rigid-body perturbation control. The kinematic redundancy of the manipulator system is removed by exploiting the conservation of angular momentum law that makes the rigid manipulator system nonholonimic. Nonholonomic constraints, resulted from the nonintegrability of angular momentum, in association with equations obtained from conservation of linear momentum and direct differential kinematics generate a set of ordinary differential equations that govern the motion tracking of the robot. The digitalized linear quadratic regulator (LQR) with prescribed degree of stability is used as the feedback control scheme to suppress vibrations. A numerical example is presented to show the numerical preferences of using Kane’s method in deriving the equations of motion and also the efficacy of the control scheme. Acquiring a zero magnitude for spacecraft attitude control moment approves the free-floating behavior of the space robot in which considerable amount of energy is saved.

Optimal attitude control of a rigid body

1996 ◽  
Vol 34 (1) ◽  
pp. 79-90 ◽  
Author(s):  
K. Spindler
Keyword(s):  
Rigid Body ◽  
Attitude Control
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