Spacecraft Attitude Fractional Feedback Control Using Rotation Matrices and Exponential Coordinates

2018 ◽  
Vol 41 (10) ◽  
pp. 2185-2198 ◽  
Author(s):  
Morad Nazari ◽  
Eric A. Butcher ◽  
Amit K. Sanyal
Keyword(s):  
Feedback Control ◽  
Spacecraft Attitude ◽  
Rotation Matrices

General Identities for Parameterizations of SO(3) With Applications

2014 ◽  
Vol 81 (7) ◽  
Author(s):  
Anton H. J. de Ruiter ◽  
James Richard Forbes
Keyword(s):  
Rigid Body ◽  
Orthogonal Group ◽  
Attitude Determination ◽  
Unit Length ◽  
Spacecraft Attitude ◽  
Euler Angles ◽  
Motion Equations ◽  
Rotation Matrices ◽  
Special Orthogonal Group ◽  
Lagrange’S Equation

Rotation matrices, which are three-by-three orthonormal matrices with determinant equal to plus one, constitute the special orthogonal group of rigid-body rotations, denoted SO(3). Owing to the three-by-three nature of rotation matrices plus their orthonormality constraint, parameterizations are often used in favor of rotation matrices for computations and derivations. For example, Euler angles and Rodrigues parameters are common three-parameter unconstrained parameterizations, while unit-length quaternions are a popular four-parameter constrained parameterization. In this paper various identities associated with the parameterization of SO(3) are considered. In particular, we present six identities, three related to unconstrained parameterizations and three related to constrained parameterizations. We also discuss rotation matrix perturbations. The utility of these identities is highlighted when deriving the motion equations of a rigid body using Lagrange's equation. We also use them to examine some issues associated with spacecraft attitude determination.

High Accuracy Attitude Regulation of Spacecraft Using Arm Motion

2013 ◽  
Vol 313-314 ◽  
pp. 470-474
Author(s):  
Ye Shi ◽  
Bin Liang ◽  
Xue Qian Wang
Keyword(s):  
Numerical Simulation ◽  
Feedback Control ◽  
Attitude Change ◽  
Sliding Mode ◽  
Small Deviation ◽  
High Accuracy ◽  
Control Technique ◽  
Spacecraft Attitude ◽  
Joint Movement ◽  
Arm Motion

Various path planning algorithms have been used to deduce optimal manipulator joint trajectories for spacecraft attitude regulation using arm motion. However, few papers have considered the unexpected factors when applying those planned path into actual situations. Even though conventional feedback control would drive the arm dynamics to the desired one, this only appears when time evolves to infinity which means during some time the actual joint paths deviate from the desired ones. However, the spacecraft attitude change is related to the entire process of arm motion. So, even a small deviation of the actual joint movement from the desired one would cause the failure of spacecraft attitude regulation task. In this paper, sliding mode control technique is adopted to force the actual joint moves along the desired trajectory from the start. Further, saturation function is used to eliminate the chattering phenomenon. Moreover, the relation between attitude regulation accuracy and controller parameters is deduced which gives instructions in tuning the controller parameters. In the end, numerical simulation is conducted to show the feasibility of the proposed controllers.

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