Switching principles to circumvent Euler angle singularity

Okasha, Mohamed Elsayed Aly Abd Elaziz and Newman, Brett (2010) Switching principles to circumvent Euler angle singularity. In: AIAA/AAS Astrodynamics Specialist Conference, 2-5 August 2010, Toronto, Ontario Canada.

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Abstract

In this paper, the singularity associated with a minimal attitude parameterization using Euler angles is circumvented by recently developed switching principles. These principles are based on describing the attitude as a function of time with two sets of Euler angle sequences that possess nonconjunctive singularities. This property exists when the singularity causing values of the relevant rotation variables associated with any two Euler angle sequences do not materialize simultaneously. For a given Euler angle set, either antisymmetric or symmetric, another Euler angle set exists such that the pair of representations possesses nonconjunctive singularities. Conditions determining when, and when not, a pair of representations possess this property are developed and analyzed. Nonconjunctive symmetric-antisymmertic and antisymmetric-antisymmetric pairs always exist. This property is exploited by a switching algorithm which facilitates motion description with a minimal parameterization not hindered by singularities. This description may possess computational savings and allow continued use of insightful variables when compared with nonminimal representations such as Euler parameters. The algorithm is numerically demonstrated and validated by a nonlinear six degree of freedom closed-loop spacecraft simulation test.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	6908/38704
Uncontrolled Keywords:	Computational savings; Euler parameters; Function of time; Motion description; Six degree-of-freedom; Spacecraft simulation; Switching algorithms; Switching principles
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA329 Engineering mathematics. Engineering analysis T Technology > TA Engineering (General). Civil engineering (General) > TA349 Mechanics of engineering. Applied mechanics T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechanical Engineering
Depositing User:	Dr Mohamed Okasha
Date Deposited:	14 Oct 2014 16:09
Last Modified:	14 Oct 2014 16:09
URI:	http://irep.iium.edu.my/id/eprint/38704

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