The Minimum Number of Inputs Required for Orientation Control of a Rotating Body with Non-Zero Angular Momentum(<Special Issue>D & D 2008)

Abstract

This paper discusses the minimum number of inputs for orientation control of a freely rotating body under conservation of angular momentum by means of internal motion of the system. Two models are considered as the analysis models for rotating body. One consists of a rigid body with a pair of particles symmetrically located around the center of mass. The other has a symmetric rotor instead of moving particles. Analyses based on differential geometry show that three dimensional attitude is locally reachable with only one control input. Some exceptional conditions are disccussed from the view point of mass arrangement and initial condition of motion.