A new approach to the solution of free rigid body motion for attitude maneuvers
- Resource Type
- Conference
- Authors
- Pagnozzi, Daniele; Maclean, Craig; Biggs, James D.
- Source
- 2013 European Control Conference (ECC) Control Conference (ECC), 2013 European. :664-669 Jul, 2013
- Subject
- Robotics and Control Systems
Quaternions
Equations
Space vehicles
Angular velocity
Tracking
Attitude control
Jacobian matrices
- Language
A Hamiltonian formulation of free rigid body motion defined on the Special Unitary Group SU(2) is used to integrate the system to obtain a convenient quaternion representation for attitude engineering applications. Novel content of this paper concerns applying a modern approach, based on geometric control theory to obtain the kinematic solution in an elegant and compact form. Moreover, this integration leads to an attitude representation which is not Euler-angle-like, thus enhancing its applicability (e.g. to attitude motion design).