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Model Independent Approximate Eigenaxis Rotations via Quaternion Feedback

By Jonathan Lawton and Randal W. Beard


This paper presents a model independent approach to eigenaxis rotations. A unit quaternion representation is used for the spacecraft attitude. Given a desired axis of rotation, the spacecraft attitude error is factored into a rotation about the desired axis of rotation followed by a rotation about an axis perpendicular to the desired axis of rotation. This second component is referred to as the orthogonal component of the spacecraft attitude error. A linear combination of the spacecraft attitude error and its orthogonal complement are used in a feedback control law to approximate eigenaxis rotations. These results are implemented with both passivity-based and velocity-based damping. Simulation results are provided

Year: 2001
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