Cepeda-Gomez, Rudy (Universidad Santo Tomas)

QUATERNION BASED MODEL FOR 6-DoF VEHICLES WITH APPLICATION TO a LOW EARTH ORBITER

Scheduled for presentation during the Contributed session "Aerospace Control" (MoBT3), Monday, October 21, 2013, 14:30−14:50, Tent A

6th Annual Dynamic Systems and Control Conference, October 21-23, 2020, Stanford University, Munger Center, Palo Alto, CA

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

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.