初期角運動量を持つ回転体の姿勢制御に必要な最少入力(<特集>D&D 2008)

抄録

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.