Optimal control of the rotational motion of a rigid body using Euler parameters with the help of rotor system

摘要

This paper presents a solution for optimal feedback regulation of a rigid body motion with the help of internal rotor system, taking into consideration the internal friction of the rotors. The optimal feedback control law is obtained as a function of the angular velocity and the orientation redundant parameters. Both of the angular velocity and the orientation parameters are regulated. In this study, stabilizer rotor system is used for regulation of the rigid body motion by the reaction rotors which can be developed by electric motors rigidly mounted on the body. Some known results on the optimal control of equilibrium positions of a rigid body are generalized and new results are obtained. Simulation results are presented.