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Mechanics in Engineering ›› 2004, Vol. 26 ›› Issue (2): 0-0.doi: 10.6052/1000-0992-2003-199

• Education Study •    

CONTROLLED ATTITUDE MOTION OF GYROSTAT BASED ON RODRIGUES PARAMETERS

  

  • Received:2003-05-19 Revised:1900-01-01 Online:2004-04-10 Published:2004-04-10

Abstract: Among various attitude representations of rigid body, the Euler angles, Cardan angles and Euler parameters are applied frequently in engineering. Recently the application of Rodrigues parameters in the attitude control of spacecraft attracts some attention. The Rodrigues parameters have some distinctive advantages of simplicity in representation and their algebraic calculation. In the space flight practice, it is difficult to determine the accurate value of dynamical parameters of a spacecraft in orbit, then the adaptive behavior of attitude control is required to adapt the variation of parameters. In the present paper the dynamical equations of controlled attitude motion of a torque-free gyrostat expressed by Rodrigues parameters are derived, and an adaptive approach based on Rodrigues parameters is proposed to keep a predetermined attitude under the internal disturbance. The Lyapunov theorem is used to prove the asymptotic stability of the controlled motion.

Key words: Rodrigues parameters, gyrostat, adaptive control, Lyapunov theorem