PERFORMANCE ANALYSIS OF ATTITUDE CONTROL USING EULER ANGLES AND QUATERNION TECHIQUE APPLIED TO A REAL-TIME WORK BENCH

Euler Gonçalves Barbosa¹; Thiago Neves Cunha¹; Raphaela Carvalho Machado²; César Moura Batagini¹

¹ IAE - Instituto de Aeronáutica e Espaço; ² ITA - Instituto Tecnológico de Aeronáutica

doi:10.20906/CPS/COB-2015-2148

Resumo

This work presents an analysis of attitude control using Euler angles and Quaternion techniques applied to a real-time platform, especially mounted for control system validation. Nonlinear controllers with dead zone are implemented to perform attitude control using position and velocity feedback, firstly with Euler angles and after using Quaternions parameters as input to the controller. Gyros are used to measure body angular rates, real-time system for data processing and digital control actuation and a cold gas system to generate torque control. Tests are performed to compare attitude time history obtained from the two techniques as well as time performance and specific impulse estimating. Some details are discussed concerning control strategy, digital controller implementation and singularities that occur using the techniques

Palavras-chave: Euler's angle; Control Systems; Quaternion