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Minimum-dimensional steering strategy using two-axis rotational kinematics for underactuated control systems

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3 Author(s)
H. -S. Ahn ; Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), 1 Oryong-dong, Buk-gu, Gwangju 500-712, Korea ; S. -H. Lee ; K. -L. Yong

This study addresses an axis-manoeuvring problem using two-axis rotational kinematics. The goal of two-axis rotational kinematics is to find a policy of rotating an arbitrary axis towards another arbitrary direction using only one or two rotations of coordinate axes. The axis-manoeuvring policy is determined on the basis of geometrical attitude configuration. This study establishes a formula to find the rotational sequence as well as rotational angles for underactuated control systems.

Published in:

IET Control Theory & Applications  (Volume:3 ,  Issue: 11 )