A new approach to the solution of free rigid body motion for attitude manoeuvers

Pagnozzi, Daniele and Maclean, Craig David and Biggs, James (2013) A new approach to the solution of free rigid body motion for attitude manoeuvers. In: European Control Conference, ECC 2013, 2013-07-17 - 2013-07-19.

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    Abstract

    A Hamiltonian formulation of free rigid body motion defined on the Special Unitary Group SU(2) is used to integrate the system to obtain a convenient quaternion representation for attitude engineering applications. Novel content of this paper concerns applying a modern approach, based on geometric control theory to obtain the kinematic solution in an elegant and compact form. Moreover, this integration leads to an attitude representation which is not Euler-angle-like, thus enhancing its applicability (e.g. to attitude motion design).