| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 721580 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
We present a passivity-based PD+ tracking controller for relative translation and rotation in a leader-follower spacecraft formation. The controller is based on a 6DOF model in the Euler-Lagrange form, which share similar properties as models of i.e robot manipulators. The purpose of this paper is to show the applicability of the 6DOF model to controller design. The controller solution utilizes the quaternion representation to achieve a shorter rotation path on commanded attitude changes, and the equilibrium points of the closed-loop system are proved to be uniformly asymptotically stable.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
