Relative motion coupled control based on dual quaternion

Modeling and Control for Spacecraft Relative Pose Motion by Using Twistor Representation

“…The dynamics equation of O B X B Y B Z B with respect to O I X I Y I Z I can be written as follows [15]:…”

“…Consider the quaternion-based PD-like control law presented in [15]. By replacing the adaptive part of the control law with feedforward terms similar to those in Eq.…”

“…Moreover, the attitude and position controllers can be designed as a single control law with desirable properties similar to the quaternion-based attitude control law [8]. Quaternion-based methods are applied in various field, such as dynamics modeling [9], strapdown inertial navigation system algorithms [10,11], position and attitude estimation [12][13][14], and relative position and attitude control [15][16][17][18][19][20][21][22], to achieve satisfactory results. For the relative attitude and position control problem of spacecraft, various controllers based on dual-quaternion representation have been investigated.…”

“…For the relative attitude and position control problem of spacecraft, various controllers based on dual-quaternion representation have been investigated. For the spacecraft tracking control problem, Wang et al [15] established a coupled relative motion model and a modelindependent PD-like controller using dual quaternions. The controller was designed by using the feedback of the logarithm of dual quaternion.…”

Development of Integrated Orbit and Attitude Software-in-the-loop Simulator for Satellite Formation Flying

“…One of them is to develop the orbit and attitude control algorithm independently and thereafter modify the control algorithm considering the effect of orbit and attitude integration (Naasz et al 2003, Lennox 2004. The other one is to design the orbit and attitude dynamics as a single integrated dynamic model and calculate the values of orbit and attitude control using the dynamic model (Xin & Pan 2010, Wang et al 2011, Wu et al 2012. If the satellite is equipped with a complicated and sophisticated propulsion system, and thereby the orbit control can be performed at any time toward the desired direction regardless of the attitude of satellite, then the problem to integrate the orbit and attitude may become less important.…”