Attitude Guidance and Control for Synchronized Maneuvers About a Fixed Rotation Axis

The attitude guidance and control problem of rotating in synchronization two rigid bodies from their current attitude to their desired attitude is addressed, where the instantaneous axis of rotation must be aligned as closely as possible with an externally defined desired axis of rotation that is fixed in the inertial frame. The approach presented in this paper is based on the fact that the angular rate vector is collinear with the axis of rotation. Therefore, by controlling the direction of the angular rate, the axis of rotation is also controlled. A sliding mode control strategy is designed to minimize the quaternion error while at the same time to track a reference angular rate direction defined by the commanded fixed axis. Simulation results are provided to demonstrate the performance of the proposed guidance and control approach in a realistic scenario that considers parameter uncertainties, measurement noises, and actuation limits.

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