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Orientation Control Using Oscillating Momentum Wheels

[+] Author Affiliations
Shaoqian Wang, Joshua L. Evans, T. Michael Seigler

University of Kentucky, Lexington, KY

Amir H. Ghasemi

University of Michigan, Ann Arbor, MI

Paper No. DSCC2015-9924, pp. V001T06A007; 8 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


This paper addresses the problem of controlling a rigid body’s orientation by actuating sinusoidal oscillations of internal momentum wheels. We consider the rotational dynamics of a rigid body having three momentum wheels (one for each body-fixed axis) that are attached to the body by springs. Each wheel is actuated by an internal sinusoidal torque of fixed frequency. The frequency of all sinusoidal torques is equal, but the amplitudes and phases can be varied independently. We analyze the inverse-dynamics problem of determining the amplitudes and phases for each sinusoidal torque such that a desired orientation is achieved. We then present two closed-loop orientation controllers based on this analysis. Numerical simulations demonstrate the effectiveness of the control techniques.

Copyright © 2015 by ASME
Topics: Momentum , Wheels



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