Author ORCID Identifier

https://orcid.org/0000-0003-2828-9590

Year of Publication

2021

Degree Name

Doctor of Philosophy (PhD)

Document Type

Doctoral Dissertation

College

Engineering

Department/School/Program

Mechanical Engineering

First Advisor

Dr. Jesse B. Hoagg

Abstract

We present and analyze kinematic-level and dynamic-level feedback control algorithms for single agent attitude control and multi-agent attitude consensus on SO(3). The kinematic-level algorithms yield attitude feedback controls that are piecewise-continuous sinusoidal angular velocities. The dynamic-level algorithms yield attitude feedback controls that are relative angles of rotational-mass actuators, which are continuous but only piecewise continuously differentiable sinusoids. Furthermore, the dynamic-level algorithms are designed to accommodate actuator stroke constraint. We present application of the dynamic-level control algorithms to attitude control and consensus of small-satellites.

Digital Object Identifier (DOI)

https://doi.org/10.13023/etd.2021.320

Funding Information

This work is supported in part by the National Aeronautics and Space Administration Grant (no.: 80NSSC17M0040) from 2017 to 2021 and the National Science Foundation Grant (no.: CMMI-1538782) from 2016 to 2019.

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