In this paper an alternative model based on quaternions for the translational and attitude dynamics of a 6DoF vehicle is presented. Specifically, the properties of unit quaternions, well suited to embody rotations in three-dimensional spaces, are used for representing the most important modes related with attitude dynamics, while full quaternions, that allow the representation of rotations and magnifications at the same time, are used for the modeling of the translational dynamics. Simulation results are also included, as an application of the proposed approach to the control of a Low Earth Orbiter and a self-guided artillery projectile.
- Dynamic Systems and Control Division
Quaternion Based Model for 6-DOF Vehicles With Application to a Low Earth Orbiter
Cepeda-Gomez, R. "Quaternion Based Model for 6-DOF Vehicles With Application to a Low Earth Orbiter." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems. Palo Alto, California, USA. October 21–23, 2013. V001T02A003. ASME. https://doi.org/10.1115/DSCC2013-4016
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