Implementation of orbital attitude control laws on a nonholonomic platform

Equations of motion for a special system, intended to provide an experimental facility for application of spatial attitude control schemes, are studied in the modern setting of geometric mechanics. Imposed constraints and inherited symmetry existing in the system’s dynamics structure help to resolve the Lagrange–D’Alembert principle into a set of reduced-order equations of motion.On-orbit conditions are mimicked, permitting to evaluate feedback control algorithms for precise satellite manoeuvres in a laboratory situ but also to investigate stability issues due to complex rotational dynamics and interactions with flexible components. It is demonstrated that the same implications concerning gyro stability of the spatial system can be replicated as well on this prototype.

► A proposed test device emulates the on-orbit dynamics conditions for satellites.
► Imposed constraints and symmetries resolve the dynamics to reduced equations.
► Similarity in dynamical structures leads to an analogy between both prototypes.
► Stability criterion established for free rigid bodies are inherited by the rolling system.
► Space attitude control rules are shown compatible for both systems.