CAJ | 학술논문

刚体姿态控制问题近年来在空间站控制、机器人控制以及飞行控制等方面有广泛的应用,用误差四元数从动力学和运动学两方面对姿态控制进行全局描述,并用李雅普诺夫方法得到基于误差四元数的姿态/速率控制器,结合某压制火炮自动操瞄控制对此控制方法进行了仿真分析.
강체자태공제문제근년래재공간참공제、궤기인공제이급비행공제등방면유엄범적응용,용오차사원수종동역학화운동학량방면대자태공제진행전국묘술,병용리아보낙부방법득도기우오차사원수적자태/속솔공제기,결합모압제화포자동조묘공제대차공제방법진행료방진분석.
Attitude control of a rigid body is used widely in spacecraft ,robot and aviation's control these years.In this paper,an error quaternion-based rate/attitude controller is derived by Lyapunov method on base of kinematics and dynamics, and makes the system achieve global description.Combined with the automatic aiming of neutralization gun,all of that above is simulated.