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A Journal of Russian Academy of Sciences | | Founded
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Online ISSN 1934-7936 |
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| Yu. N. Chelnokov, "Construction of attitude control laws for a rigid body using quaternions and standard forms of equations governing transient processes. Part 1," Mech. Solids. 37 (1), 1-12 (2002) |
| Year |
2002 |
Volume |
37 |
Number |
1 |
Pages |
1-12 |
| Title |
Construction of attitude control laws for a rigid body using quaternions and standard forms of equations governing transient processes. Part 1 |
| Author(s) |
Yu. N. Chelnokov (Moscow) |
| Abstract |
Theory and methods are developed for the analytical construction
of control laws for the attitude motion of a rigid body
that would provide the asymptotic stability in large or global
asymptotic stability for any chosen attitude motion and ensure
a desired behavior of the controlled motion of the body.
To construct such control laws, we use quaternion models
of rotation of a rigid body, the inverse dynamics concept,
the feedback control principle, and methods for reducing
the differential equations of the perturbed angular motion
of a rigid body to standard differential equations of a prescribed
structure.
In the first part of the paper, we consider quaternion models
of the rotational motion of a rigid body, formulate the problem
of attitude control of a rigid body, and present various forms
of differential equations of perturbed angular motion of the body
in quaternion and vector variables convenient for constructing
control laws.
In the second part of the paper, we will consider standard differential
equations governing the desired behavior of the controlled motion
of the body and synthesize three groups of control laws utilizing
quaternion and vector variables to describe the rotational motion.
We will discuss the construction of the desired (nominal) attitude motion
and the corresponding open-loop control, and the determination of scalar,
matrix or quaternion gains of nonlinear feedback laws providing the desired
qualitative and quantitative characteristics for transient processes.
Specific control algorithms will be proposed.
This work is a generalization and continuation of [1-5]. |
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|
| Received |
08 December 1999 |
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