Access

You are not currently logged in.

Access your personal account or get JSTOR access through your library or other institution:

login

Log in to your personal account or through your institution.

If You Use a Screen Reader

This content is available through Read Online (Free) program, which relies on page scans. Since scans are not currently available to screen readers, please contact JSTOR User Support for access. We'll provide a PDF copy for your screen reader.

A unified approach to rigid body rotational dynamics and control

Firdaus E. Udwadia and Aaron D. Schutte
Proceedings: Mathematical, Physical and Engineering Sciences
Vol. 468, No. 2138 (8 February 2012), pp. 395-414
Published by: Royal Society
Stable URL: http://www.jstor.org/stable/41345881
Page Count: 20
  • Read Online (Free)
  • Cite this Item
Since scans are not currently available to screen readers, please contact JSTOR User Support for access. We'll provide a PDF copy for your screen reader.
A unified approach to rigid body rotational dynamics and control
Preview not available

Abstract

This paper develops a unified methodology for obtaining both the general equations of motion describing the rotational dynamics of a rigid body using quaternions as well as its control. This is achieved in a simple systematic manner using the so-called fundamental equation of constrained motion that permits both the dynamics and the control to be placed within a common framework. It is shown that a first application of this equation yields, in closed form, the equations of rotational dynamics, whereas a second application of the self-same equation yields two new methods for explicitly determining, in closed form, the nonlinear control torque needed to change the orientation of a rigid body. The stability of the controllers developed is analysed, and numerical examples showing the ease and efficacy of the unified methodology are provided.

Page Thumbnails

  • Thumbnail: Page 
395
    395
  • Thumbnail: Page 
396
    396
  • Thumbnail: Page 
397
    397
  • Thumbnail: Page 
398
    398
  • Thumbnail: Page 
399
    399
  • Thumbnail: Page 
400
    400
  • Thumbnail: Page 
401
    401
  • Thumbnail: Page 
402
    402
  • Thumbnail: Page 
403
    403
  • Thumbnail: Page 
404
    404
  • Thumbnail: Page 
405
    405
  • Thumbnail: Page 
406
    406
  • Thumbnail: Page 
407
    407
  • Thumbnail: Page 
408
    408
  • Thumbnail: Page 
409
    409
  • Thumbnail: Page 
410
    410
  • Thumbnail: Page 
411
    411
  • Thumbnail: Page 
412
    412
  • Thumbnail: Page 
413
    413
  • Thumbnail: Page 
414
    414