Attitude Stabilization Using Modified Rodrigues Parameters without Angular Velocity Measurements英文文献资料.docVIP

World Journal of Mechanics, 2011, 1, 57-63 doi:10.4236/wjm.2011.12008 Published Online April 2011 (http://www.SciRP.org/journal/wjm) Attitude Stabilization Using Modified Rodrigues Parameters without Angular Velocity Measurements Awad El-Gohary, Tawfik El-Sayed Tawfik Department of Mathematics, Faculty of Science, Mansoura University, Mansoura, Egypt E-mail: aigohary@.sa, tawfikstm@ Received January 26, 2011; revised April 6, 2011; accepted April 7, 2011 Abstract The optimal stabilization of a rigid body motion without angular velocity measurements is considered with the help of three internal rotors that effected by internal frictions. In this paper, the orientation of the body will be described in terms of the Modified Rodrigues parameters (MRPs). The optimal control law which sta- bilizes asymptotically this motion and minimizes the require like-energy cost is obtained in terms of the MRPs. Numerical study and simulation are introduced. Keywords: Attitude Control, Rotors with Frictions, Modified Rodrigues Parameters 1. Introduction asymptotically this motion is obtained in terms of Euler parameters. El-Gohary (2005b) studied the optimal stabi- lization of an equilibrium position using three rotors with- out inertial frictions. The control law which stabilizes asymptotically this position is obtained either in terms of the Cayley-Rodrigues parameters, or in terms of the MRPs. In this paper, the control law which stabilizes asymptotically a rotational motion of a rigid body in terms of the MRPs is derived. We will take into account the inertial frictions of the rotors. Moreover, a special case of the studied problem is obtained. Most research into attitude motions of rigid bodies sys- tems always has been and still remains one of the impor- tant problems of theoretical and applied mechanics. The controlling of a rigid body motion means how we can select the control law that ensures a