Attitude Regulation About a Fixed Rotation Axis

The attitude control problem of rotating a rigid body from its current attitude to a desired attitude such that the instantaneous rotation axis is aligned with an externally defined axis of rotation is considered. The keyidea is to factor the attitude quaternion into rotations parallel and perpendicular to the desired rotation axis. State feedback and output feedback control strategies are designed to minimize the perpendicular component. Simulation results are provided to illustrate the salient features of the approach.

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