attitude stabilization using modified rodrigues parameters without angular velocity measurements态度稳定使用修改后的罗德里格斯参数没有角速度测量.pdfVIP

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- Most research into attitude motions of rigid bodies sys- lization of an equilibrium position using three rotors with- tems always has been and still remains one of the impor- out inertial frictions. The control law which stabilizes tant problems of theoretical and applied mechanics. The asymptotically this position is obtained either in terms of controlling of a rigid body motion means how we can the Cayley-Rodrig