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TRACKING CONTROL OF SPACECRAFT ATTITUDE AND POSITION ON TIME DEPENDENT TRAJECTORIES USING DUAL QUATERNIONS

2019-01-01
BÜYÜKKOÇAK, ALİ TEVFİK
Tekinalp, Ozan
A spacecraft attitude and position control algorithm that uses dual quaternions for parametrization is proposed. Error dual quaternion and its derivative are obtained from the desired attitude and position information which are the trajectories of time dependent functions. This position and orientation (pose) formulation is used in a Lyapunov based nonlinear feedback control law that includes derivative of desired attitude and position. Simulation results show that desired attitude and position trajectories are successfully tracked by the new algorithm.