IAS2013-17043

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] [1 ] [2-4
(Nonlinear Dynamic
)) Inversion (NDI .

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. )(B
. )(D
.
) (B ) (D.

:
1
1
q&0e = - qTe e = - Te qe
2
2
1
1
q& e = q e + q0e I 3 e = -e
2
2

) (1
) (2

qe
e
q0e

& e = - J + u
J

) (3

)&d
+ J ( e C(Qe )d - C(Qe )

) = - ( e + C(Qe )d ) J ( e + C(Qe )d

)&d
+ u + J ( e C(Qe )d - C(Qe )

Qe = q0e , qTe

) (B ) (D
) C ( Qe ) (B

) (D :

C(Qe ) = (q - qTe qe )I3 + 2qe qTe - 2q0e qe

2
0e

) (4

) e = (we1 , we 2 , we3

) (B ) (D ) = (w1 , w2 , w3
T

) (B ) (I
) (B d = (wd 1 , wd 2 , wd 3 )
T

) (D ) (I
) (D I3 3 3 J
3 3
J m x xT Jx J M x , J m , M +
2

u = ( u1 , u2 , u3 ) 3
T

 = diag{G1 , G 2 , G3 }

G
:
-1
)(11
) u = G ( x) ( -F + v

) (5:

r1 ,..., r m
.

0 < G i 1 G i = 1 .
i . ) = (x1 , x 2 , x 3
T

x2

-x1
0

) (5

-x 3
0

x1

= x3
-x
2

.
x& = f (x) + g (x)u
) ) y = h ( x(t . r1 ,..., r m

u = (x) + (x) v
:

y1( r1 ) v1
( r2 )
y2 = v1 = v
) (6
M M
( rm )
ym v1
m v
.
yi ri :
)yi1 = L f hi (x
)yi2 = L2f hi (x

) (7

yi( ri ) = L(fri ) hi ( x) + j =1 Lg j L(fri -1) hi (x)u j

m

L(fk ) h( x) ) L(fk -1) h( x

. 1 j m j
Lg j L(fri -1) hi ( x) 0 .

) ei (t ) = yi (t ) - ri (t
v
:
)r(t

)(12

) (8

L h (x)

L h (x)
F (x) =

M
) ( rm

L f hm (x)

)(9

y1( r1 )
( r2 )
y
Yr = 2
M
( rm )
ym

ci j
.

) (13 ri = 2
.
z wn
.

:

:

)(14

q3e

q2e

y = q e = q1e

:
)(15

1
1
y& = q& e = - eq e + q0 e e
2
2
e . e ) q e E(q e ) -1
(
= && e&&
y =q
) J ( e J e
q +
4
4
0e

)(16

) E(q e
) ( C(qe )& d - e C(qe ) d
4
) E (q e
)(u
4
)= ( e ,q e ) + ( e ,q e )(u
+

)(17

:
r

)Y = F ( x ) + G ( x

)(10

ri ( ri ) - ci( r -1) ei( ri -1) - ... - ci1 e1i - ci0 ei = 0

)(13

Lgm L(fr1 -1) h1 ( x)

L Lg m L(fr2 -1) h2 ( x)

L
M

L Lg m L(fr2 -1) h2 ( x)

) ( r1
f
1
) ( r2
f
2

vi (t ) = ri ( ri ) - ci( r -1) ei( ri -1) - ... - ci1 ei1 - ci0 ei

) Lg1 L(fr1 -1) h1 (x

)( r -1
) L L 2 h2 (x
G ( x) = g1 f
M

) Lg L(frm -1) hm ( x
1

C(qe ) = (q - q qe )I 3 + 2qe q - 2q0e q

T
e

T
e

2
0e

q + q0e I 3
)(18
E(qe ) = e

-q e
G .
2 .
.

.

.


][2
:

) u = -1 ( - - c0q& e - c1qe

)(19

c0 c1
.
1

q0e
)(20

q3e q1e - q2e q0e

q1e q0e + q2e q3e

q02e + q32e

q3e q0e + q2e q1e

q +q
2
0e

2
2e

q3e q2e - q0e q1e

-1 = G

q02e + q12e

q2e q1e - q3e q0e

q3e q1e + q2e q0e

G .
-
.

.
.

1-3 4-6 .

qe = 0.5 0 cos ( 0.05t ) sin ( 0.05t ) - 3 .
q1 = -0.1 q0 = 0.9631
q3 = -0.2 q2 = 0.15
.

:
20 0 0.9
J = 0 17 0
0.9 0 15

q0e = 0 .
180

. q0e = q0e + d
d .

:
1 T
)(21
) ( qe Qqe + q& Te Rq& e
2
:

=V

&&e
V& = qTe Qq& e + q& Te Rq

) && e
= q& Te ( Qqe + Rq

)(22

) ) + R ( + u

( Qq

T
e

&= q

Qqe + R ( + u ) = - Wq& e

)(23

W . :
)(24
V& = -q& T Wq& 0
e

ci j .
c0 = R -1 W c1 = R -1Q
) (19 :

) &&e - c0 q& e - c1qe

u = -1 ( - + q

)(25

G% G% ) (21
% = -

T

.
)(26

1
1
Va = ( qTe Qq e + q& Te Rq& e ) + % T %
2
2

:
)(27

1
V&a = q& Te ( Qq e + R ( + u ) ) + % -1 &%
2

p
0.7 + 0.1sin(0.5t + )
3

2p

= diag 0.7 + 0.1sin(0.5t +

)

0.7 + 0.1sin(0.5t + p )

c0 = 1.4 c1 = 1

. z = 0.7 wn = 1
.

c0 = 2 c1 = 1 . z = 1
wn = 1 .

] ) d = + 0.05 [sin(0.8t ), cos(0.5t ), cos(0.3t

.

-
.
.
.



.

c1 = 1 c0 = 2 -5
c1 = 1 c0 = 1.4 -1

c1 = 1 c0 = 2 -6
c1 = 1 c0 = 1.4 -2

-7

1. Craig J., Introduction to Robotics: Mechanics and Control, 3rd ed.,

Prentice Hall, London, 2004.
2. Bang H.C., Lee J.S., Eun Y.J., Nonlinear Attitude Control for a
Rigid Spacecraft by Feedback Linearization, KSME International
Journal, v. 18, n. 2, 2004, pp.203-210
3. Bajodah A.H., Perturbed Feedback Linearization of Attitude
Dynamics, American Control Conference, 2008, pp. 5222-5229.
4. Bajodah A.H., Inertia-independent generalized dynamic inversion
feedback control of spacecraft attitude maneuvers, 5th International
Conference on Recent Advances in Space Technologies, 2011, pp.
903-908.
5. M. J. Sidi, Spacecraft Dynamics and Control A Practical
Engineering Approach, 3rd ed., CAMBRIDGE UNIVERSITY
PRESS Cambridge, England, UK, 1997.

c1 = 1 c0 = 1.4 -3

c1 = 1 c0 = 2 -4