• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.62.3-62
• /
• 2001

The predictive control is one of the nonlinear three-axis rotation methods. The desired trace of a satellite is pre-determined, and the control inputs are designed so that the satellite follows the ´predictive´ trace. The predictive control has been adapted to the research for the three-axis attitude control. In that case, the control variables are the quaternion represented the angular rates and attitude angles of the body about the three-axes. The objective of this paper is to propose to design a predictive controller for the three-axis attitude control under external disturbances. In order to do that, this paper proposes how to construct a predictive control law including disturbances and to discern them. The basic algorithm of the existent predictive control is partially modified, and the presumption and modeling of disturbances are performed ...

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.3
• /
• pp.291-297
• /
• 2000

This paper presents an attitude determination algorithm for the local level strapdown inertial navigation where the body the earth and the transport rate can be calculated separately using a DCM computation scheme, Also presented is a velocity determination algorithm taking into account the attitude variation caused by he change of the navigation frame. The proposed algorithm are implemented using three samples of the velocity and the angle within the integration interval.

• Journal of the Korean Mathematical Society
• /
• v.56 no.4
• /
• pp.1131-1158
• /
• 2019

An ideal right-angled pentagon in hyperbolic 4-space ${\mathbb{H}}^4$ is a sequence of oriented geodesics ($L_1,{\ldots},L_5$) such that $L_i$ intersects $L_{i+1},i=1,{\ldots},4$, perpendicularly in ${\mathbb{H}}^4$ and the initial point of $L_1$ coincides with the endpoint of $L_5$ in the boundary at infinity ${\partial}{\mathbb{H}}^4$. We study the geometry of such pentagons and the various possible augmentations and prove identities for the associated quaternion half side lengths as well as other geometrically defined invariants of the configurations. As applications we look at two-generator groups ${\langle}A,B{\rangle}$ of isometries acting on hyperbolic 4-space such that A is parabolic, while B and AB are loxodromic.

• Journal of the Korean Mathematical Society
• /
• v.56 no.3
• /
• pp.595-622
• /
• 2019

An ideal right-angled pentagon in hyperbolic 4-space ${\mathbb{H}}^4$ is a sequence of oriented geodesics ($L_1,{\ldots},L_5$) such that Li intersects $L_{i+1},\;i=1,\;{\ldots},\;4$, perpendicularly in ${\mathbb{H}}^4$ and the initial point of $L_1$ coincides with the endpoint of $L_5$ in the boundary at infinity ${\partial}{\mathbb{H}}^4$. We study the geometry of such pentagons and the various possible augmentations and prove identities for the associated quaternion half side lengths as well as other geometrically defined invariants of the configurations. As applications we look at two-generator groups ${\langle}A,B{\rangle}$ of isometries acting on hyperbolic 4-space such that A is parabolic, while B and AB are loxodromic.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.4 no.2
• /
• pp.147-156
• /
• 2001

In this paper, a robust attitude control scheme based on Eigenaxis rotation for the spacecraft is proposed. Eigenaxis rotation transforms the attitude of spacecraft to the shortest path and is represented by quaternion. The control law consists of PD-type control part for the nominal system and the robust control part for compensating inertia uncertainty. For the proposed controller, stability analysis is performed and the performance is shown via computer simulation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.5
• /
• pp.674-679
• /
• 1998

In this paper, a new coarse alignment algorithm is proposed for roughly determining the initial attitude of the vehicle. The algorithm, referred as two-step coarse alignment algorithm, computes roll and pitch angle of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. With the geometric relation between sensor outputs and attitude angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm that computes a transformation matrix using accelerometer md gyro outputs simultaneously. The simulation is also performed by varying the sensor errors. The results show that the proposed two-step coarse alignment algorithm has better performance for east tilt angle.

• Proceedings of the KIEE Conference
• /
• 1997.07b
• /
• pp.474-477
• /
• 1997

In this paper, an efficient attitude determination algorithm based on the Kalman Filter which combines earth/sun sensor data with gyro data in a mutually compensating manner is presented. Quaternion is used as the attitude state to save computation time and to prevent the gimbal-lock situation associated with Euler angles. Gyro data allows the use of the kinematic equation instead of space vehicle's dynamic equation which is usually based on approximation of the actual dynamics and inaccurate torque information. The gyro data are used to propagate the attitude through kinematic equation and the earth/sun sensor data are used to update the attitude and estimate the gyro bias. Simulation results for the KOMPSAT attitude determination system are presented.

• Advances in aircraft and spacecraft science
• /
• v.9 no.5
• /
• pp.433-447
• /
• 2022

This work deals with an explicit guidance and control architecture for autonomous lunar ascent and orbit injection, i.e., the locally-flat near-optimal guidance, accompanied by nonlinear reduced-attitude control. This is a new explicit guidance scheme, based on the local projection of the position and velocity variables, in conjunction with the real-time solution of the associated minimum-time problem. A recently-introduced quaternion-based reduced-attitude control algorithm, which enjoys quasi-global stability properties, is employed to drive the longitudinal axis of the ascent vehicle toward the desired direction. Actuation, based on thrust vectoring, is modeled as well. Extensive Monte Carlo simulations prove the effectiveness of the guidance, control, and actuation architecture proposed in this study for precise lunar orbit insertion, in the presence of nonnominal flight conditions.

• Honam Mathematical Journal
• /
• v.36 no.1
• /
• pp.67-83
• /
• 2014

The notion of rectifying curve in the Euclidean space is introduced by Chen as a curve whose position vector always lies in its rectifying plane spanned by the tangent and the binormal vector field t and $n_2$ of the curve, [1]. In this study, we have obtained some characterizations of semi-real spatial quaternionic rectifying curves in $\mathbb{R}^3_1$. Moreover, by the aid of these characterizations, we have investigated semi real quaternionic rectifying curves in semi-quaternionic space $\mathbb{Q}_v$.

• Korean Journal of Mathematics
• /
• v.26 no.1
• /
• pp.87-101
• /
• 2018

The purpose of this paper is to define a new class of hyperholomorphic functions spaces, which will be called $F^{\alpha}_{{\omega},G}$(p, q, s) type spaces. For this class, we characterize hyperholomorphic weighted ${\alpha}$-Bloch functions by functions belonging to $F^{\alpha}_{{\omega},G}$(p, q, s) spaces under some mild conditions. Moreover, we give some essential properties for the extended weighted little ${\alpha}$-Bloch spaces. Also, we give the characterization for the hyperholomorphic weighted Bloch space by the integral norms of $F^{\alpha}_{{\omega},G}$(p, q, s) spaces of hyperholomorphic functions. Finally, we will give the relation between the hyperholomorphic ${\mathcal{B}}^{\alpha}_{{\omega},0}$ type spaces and the hyperholomorphic valued-functions space $F^{\alpha}_{{\omega},G}$(p, q, s).