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

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3 Author(s)
Ahn, H.-S. ; Dept. of Mechatron., Gwangju Inst. of Sci. & Technol. (GIST), Gwangju, South Korea ; Lee, S.-H. ; Yong, K.-L.

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:

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