Dynamics and Control of Reaction Wheel Cubesat System Based on Principle of Dynamical Balance

This paper presents a model-based approach to attitude control for CubeSat using three orthogonally mounted reaction wheels. The dynamics of a reaction wheel-based CubeSat system are derived based on the principle of dynamical balance. All mathematical derivations start with the floating base and loading constraints, ultimately culminating in the closed-form equation of motion. The equation of motion is utilized in designing the inverse dynamics control to perform two tasks: Jumping up and Balancing.