Underactuated Attitude Control via Orbital Flatness

C.O. Aguilar and A.F. Lynch (Canada)


Attitude control; Underactuated; Orbital flatness; Motion planning


In this paper we employ the Dynamic Extension Algorithm (DEA) to explicitly construct a time-scaling function for a two-input rigid body such that the new time-scaled system is flat. Exploiting the flatness structure of the time-scaled system, we construct open- and closed-loop attitude track ing controllers. Simulation results are provided.

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