Spacecraft Attitude Dynamics and Control

Rigid Body Dynamics & Satellite Attitude Dynamics

Luiz Carlos Gadelha
UFABC

The attitude dynamic obtained by Newton's laws

The linear and angular momentum (p and h)
Equations of motion -> Euler equations
Gravity Gradient Torque
 Rigid Body Dynamics
The attitude motion (angle and angular velocity) can be done by rotation
matrices using Euler angles, Euler axis/angle and quaternions.

Knowing the motion at an instant t allows to visualize the spacecraft orientation

from one reference frame to another at an instant t+dt.

Althgout a real spacecraft usually is complex with moving parts as flexible

appendages and partially filled fluid containers. It is useful to model it as a rigid
body (RB).

The equations of motion for a RB both translational and rotational are

developed. Because the torques applied to spacecraft are small, one investigates
the special case of torque-free motion.

Due to the effect of non-rigidity spacecraft , there exist the effect of energy
dissipation which changes the spacecraft stability.

One also presents the analysis of some important examples of rigid body
dynamics considering different control systems ( passive & active).
 Rigid Body Dynamics
Applying the Newton's laws to a particle m (point mass). One gets one second-
order vector differential equation given by

m(dx/dt)*2 = f

or two first-order vector differential equations given by

dp/dt = f

dr/dt = p/m

where r is the position vector of the particle with respect to an inertially fixed
point, p is the linear momentum of the particle and f is the total applied force
acting on the particle.

These equations describe the dynamics of a particle and its integration requires
selection of specific coordinates or position variables.

For example, with respect to an inertial frame {i} or spacecraft body {b}.
 Rigid Body Dynamics
Attitude dynamics describes the rotational motion of a solid body
around its center of mass (center of gravity).

Considering the mass density 𝜇 and the differential element of

mass 𝑑𝑚 . (see Fig. 5.1) The total mass (zero moment of inertia) is

𝑎 𝑏 𝑐
𝑚= 0 0 0
𝜇𝑑𝑟1 𝑑𝑟2 𝑑𝑟3 = 𝜇𝑎𝑏𝑐

The first moment of inertia is

𝑐𝑜 = 𝑜𝑟 𝑑𝑚
𝐵
 Rigid Body Dynamics
Choosing the body frame to represent c and r (see Fig. 5.1)
𝑐 = 𝑐𝑏 𝑇 {𝑏 𝑟 = 𝑟𝑏 𝑇 {𝑏

The center of mass (CM) is

𝑎 𝑏 𝑐
𝑇 𝜇 2 𝑇
𝑐𝑏𝑜 = 𝜇[𝑟1 𝑟2 𝑟3 𝑑𝑟1 𝑑𝑟2 𝑑𝑟3 = [𝑎 𝑏𝑐 𝑎𝑏 2 𝑐 𝑎𝑏𝑐 2
0 0 0 2

By definition : CM is the point where the first moment is zero

𝑐𝑐 = 𝑐𝑟 𝑑𝑚 = 𝑜
𝐵
𝑟 = 𝑐𝑟 + 𝑟
𝑜 𝑜 𝑐
 Rigid Body Dynamics
As a result, the position vector of c with respect to o

𝑐𝑜 = 𝑐
𝑜𝑟 + 𝑐 𝑟 𝑑𝑚 = 𝑐
𝑜𝑟 𝑑𝑚 = 𝑜𝑐𝑟 𝑑𝑚
𝐵 𝐵 𝐵

𝑐
1 𝑜 𝜇
𝑜𝑟 = 𝑐 = [𝑎2 𝑏𝑐 𝑎𝑏 2 𝑐 𝑎𝑏𝑐 2 𝑇
𝑚 2𝑚
𝑚
𝜇=
𝑎𝑏𝑐
𝑐
1 𝑇
𝑜𝑟 = [𝑎 𝑏 𝑐
2
 Rigid Body Dynamics
The linear momentum is given by
𝑝= 𝑣 𝑑𝑚
𝐵
𝑣 is the time derivative of 𝑟 of a differential mass 𝑑𝑚 = 𝜇𝑑𝑉

Position 𝑟 and its derivative must be measured from origin of

inertial frame O where o is the origin of body frame.
𝑣 = 𝑂𝑜𝑣 + 𝜔𝑏𝑖 × 𝑜𝑟
So the linear momentum

𝑝= ( 𝑂𝑜𝑣 + 𝜔𝑏𝑖 × 𝑜𝑟)𝑑𝑚 = 𝑚 𝑂𝑜𝑣 + 𝜔𝑏𝑖 × 𝑜𝑟𝑑𝑚

𝐵 𝐵

𝑝 = 𝑚 𝑂𝑜𝑣 + 𝜔𝑏𝑖 × 𝑐 𝑜
 Rigid Body Dynamics

If the point o is coincident with the center of mass c

𝑝 = 𝑚 𝑂𝑜𝑣
Rule for differentiation in a rotational frame

𝑑 𝑇 𝑇
𝑏 𝑎 = 𝑏 [𝑎 + 𝜔 × 𝑎
𝑑𝑡
𝑝 = 𝑚 𝑂𝑜𝑣 + 𝜔𝑏𝑖 × 𝑐 𝑜
𝑑𝑝
𝑓= +𝜔𝑏𝑖 × 𝑝
𝑑𝑡

The total momentum and force acting on a differential element of mass

 Rigid Body Dynamics
Rotational equations of motion for a rigid body: Euler’s law

𝑑
ℎ=𝜏
𝑑𝑡

h is the angular momentum about the mass center

Considering the body frame

ℎ+𝜔×ℎ =𝜏

ℎ = Iω and I = 0 (rigid body)

𝜔 = −𝐼 −1 𝜔 × 𝐼 𝜔 + 𝐼 −1 𝜏
 Rigid Body Dynamics
Considering the axes of body frame coincident to principal axes of inertia

𝐼2 − 𝐼3 𝜏1
𝜔1 = 𝜔2 𝜔3 +
𝐼1 𝐼1
𝐼3 − 𝐼1 𝜏2
𝜔2 = 𝜔3 𝜔1 +
𝐼2 𝐼2
𝐼1 − 𝐼2 𝜏3
𝜔3 = 𝜔1 𝜔2 +
𝐼3 𝐼3

Equations of motion ( Euler equations) describing the attitude dynamics

are Nonlinear and coupled equations.

Symmetries of the body will simplify these equations.

 Rigid Body Dynamics
Review about Inertia Matrix or Inertia Tensor (h=Iω)
𝐼𝑥 −𝐼𝑥𝑦 −𝐼𝑥𝑧
𝐼 = −𝐼𝑥𝑦 𝐼𝑦 −𝐼𝑦𝑧
−𝐼𝑥𝑧 −𝐼𝑦𝑧 𝐼𝑧
Moments of inertia

𝐼𝑥 = 𝑦 2 + 𝑧 2 𝑑𝑚 , 𝐼𝑦 = 𝑥 2 + 𝑧 2 𝑑𝑚 , 𝐼𝑧 = 𝑥 2 + 𝑦 2 𝑑𝑚
𝐵 𝐵 𝐵

• Products of inertia

𝐼𝑥𝑦 = 𝑥𝑦 𝑑𝑚 , 𝐼𝑥𝑧 = 𝑥𝑧 𝑑𝑚 , 𝐼𝑦𝑧 = 𝑦𝑧 𝑑𝑚

𝐵 𝐵 𝐵
 Rigid Body Dynamics
Rotational kinetic energy
1 𝑇
𝑇𝑟𝑜𝑡 = 𝜔 𝐼𝜔
2

Energy is not dependent of frame where one calculates it !

𝜔′ = 𝑅𝑇 𝜔 → 𝜔 = 𝑅𝜔′

It is possible to choose a frame where

1 ′𝑇 𝑇 ′
1 𝑇 ′
𝑇𝑟𝑜𝑡 = 𝜔 𝑅 𝐼 𝑅𝜔 = 𝜔′ 𝐼 𝜔′
2 2
→ 𝐼 ′ = 𝑅𝑇 𝐼𝑅
 Rigid Body Dynamics
It is possible to choose a frame where

𝐼𝑥 0 0
𝐼′ = 0 𝐼𝑦 0
0 0 𝐼𝑧

where (Ix,Iy,Iz) are the principal moments of inertia associated with the principal
axes of inertia.

In that case the problem

𝐼 ′ = 𝑅𝑇 𝐼𝑅

Can be put in the eigenvalue problem form

𝐼 ′ 𝑥 = λ𝑥

Where (λ,x) are eigenvalues and eigenvectors.

 Satellite Attitude Dynamics
An important step to derive the rigid body equations of motion is to
understand how torques “g” that acts in the equations.

Environmental torques affect the satellite dynamics. The main ones:

gradient of gravity, magnetic torques, aerodynamic torques (residual
atmosphere) and solar radiation pressure. When used to control is
called 'passive'

On the other hand g may also represent the control torques which
aim at basic orbital and attitude control. The main ones: thrusters ,
reaction well , magnetic coil and others. In that case is called
“active” , uses a power source. Ex. battery
 Satellite Attitude Dynamics
Gravity Gradient Torque
Consider a spherical Rigid satellite in orbit around the Earth, subject to
Newton's Universal Gravitational Law

𝐺𝑀𝑑𝑚
𝑑𝑓𝑔 = − 2
𝑒𝑟
𝑟
𝐺𝑀 𝐺𝑀
𝑓𝑔 = − 2
𝑒𝑟 𝑑𝑚 = − 3
𝑟 𝑑𝑚
𝐵 𝑟 𝐵 𝑟

𝐺𝑀 𝑐
𝑓𝑔 = − 3 𝑂𝑟 + 𝑐 𝑟)𝑑𝑚
(
𝑐
𝐵 𝑂𝑟 + 𝑐𝑟

where G is the universal gravitational constant, M is the mass of the main body , dm is
the mass element of the body in orbit, r is the radial distance from the CM of the body
to the mass element, er is a unit vector from CM of the body to the mass element.
 Satellite Attitude Dynamics
Considering the distance from center of the Earth to the satellite
CM is bigger than the distance from satellite CM to body point

| 𝑂𝑐𝑟| ≫ | 𝑐𝑟|
𝑐 𝑐
𝑂𝑟 + 𝑐𝑟 + 𝑐𝑟 𝑂𝑟
= 𝑐
| 𝑂𝑐𝑟 + 𝑐𝑟|3 |( 𝑂𝑟 + 𝑐𝑟). ( 𝑂𝑐𝑟 + 𝑐𝑟)|3/2
𝑐 𝑐
𝑂𝑟 + 𝑐𝑟 𝑂𝑟 + 𝑐𝑟
= ==
| 𝑂𝑐𝑟 . 𝑂𝑐𝑟 +2 𝑂𝑐𝑟 . 𝑐𝑟 + 𝑐𝑟. 𝑐𝑟 |3/2 | 𝑂𝑐𝑟 2 +2 𝑂𝑐𝑟 . 𝑐𝑟 + 𝑐𝑟 2 |3/2
• CN
𝑐 𝑐
𝑂𝑟 + 𝑐𝑟 𝑂𝑟 + 𝑐𝑟
= 𝑐 3 𝑐 𝑐 2 2 𝑐 2 3/2 = 𝑐 3
𝑂𝑟 |1+2 𝑂𝑟 . 𝑐𝑟 / 𝑂𝑟 + 𝑐𝑟 / 𝑂𝑟 | 𝑂𝑟
 Satellite Attitude Dynamics

The simplified expression for gravitational force is

𝐺𝑀 𝑐 𝐺𝑀𝑚 𝑐
𝑓𝑔 = − 𝑐 3 𝑂𝑟 + 𝑐 𝑟 𝑑𝑚 = 𝑐 3 𝑂𝑟
𝐵 𝑂𝑟 𝑂𝑟

and the CM position motion of the satellite is governed by

𝑑2 𝑟 𝐺𝑀
2
+ 3 𝑟=0
𝑑𝑡 𝑟
 Satellite Attitude Dynamics

As a result, the expression for gravitational torque is

𝐺𝑀
𝜏𝑔𝑐 =− 𝑐
𝑐 𝑟 × 𝑑𝑓𝑔 = 3 3 𝑜3 × 𝐼 . 𝑜3
𝐵 𝑟

In the body frame

𝐺𝑀
𝜏𝑔 = 3 3 𝑜3 × 𝐼. 𝑜3
𝑟
 Gravity Gradient Stabilization
Satellite equations of motion (translational & rotational)

𝑑2 𝑟 𝐺𝑀
2
+ 3 𝑟=0
𝑑𝑡 𝑟
𝑑ℎ 𝐺𝑀
= 3 3 𝑜3 × 𝐼 𝑐 . 𝑜3
𝑑 𝑟

Rotational motion considering exclusively gravity gradient

𝐺𝑀
𝐼𝜔 = −𝜔 × 𝜔 + 3 3 𝑜3 × 𝐼𝑜3
𝑟
 Gravity Gradient Stabilization
Taking into account the rotations sequence 1-2-3 from {ô} to {b}

𝑅𝑏𝑜 = 𝑅3 𝜃3 𝑅2 𝜃2 𝑅1 𝜃1

𝑐2 𝑐3 𝑠1 𝑠2 𝑐3 + 𝑐1 𝑠3 𝑠1 𝑠3 − 𝑐1 𝑠2 𝑐3
= −𝑠2 𝑠3 𝑐1 𝑐3 − 𝑠1 𝑠2 𝑠3 𝑠1 𝑐3 + 𝑐1 𝑠2 𝑠3
𝑠2 −𝑠1 𝑐2 𝑐1 𝑐2
and considering that angles are small. it’s possible to simplify the
attitude matrix
sin 𝜃𝑖 ≈ 𝜃𝑖 , cos 𝜃𝑖 ≈ 1 , 𝜃𝑖 𝜃𝑗 ≈ 0
𝑅𝑏𝑜 ≈ 𝟏 − [𝜃 ×
𝑜3 = [−𝜃2 𝜃1 1 𝑇
 Gravity Gradient Stabilization
The graviational torque becomes
𝐼3 − 𝐼2 𝜃1
𝜏𝑔 = 3𝜔𝑐2 𝑜3 × 𝐼𝑜3 = 3𝜔𝑐2 𝐼3 − 𝐼1 𝜃2
0
And the angular velocity ω from {î} to {b} is givem by

𝜔𝑏𝑖 = 𝜔𝑏𝑜 + 𝜔𝑜𝑖

𝜃1 1 𝜃3 −𝜃2 0 𝜃1 − 𝜔𝑐 𝜃3
𝜔𝑏𝑖 = 𝜃2 + −𝜃3 1 𝜃1 −𝜔𝑐 = 𝜃2 − 𝜔𝑐
𝜃3 𝜃2 −𝜃1 1 0 𝜃3 + 𝜔𝑐 𝜃1

ωc is the orbital angular velocity

 Gravity Gradient Stabilization
The angular acceleration is now given by

𝜃1 − 𝜔𝑐 𝜃3
𝜔 = 𝜃2
𝜃3 + 𝜔𝑐 𝜃1

and the equations of the sattelite dynamics (considering the

gravitational torque and the small angles) are

𝐼1 𝜃1 + 𝐼2 − 𝐼3 − 𝐼1 𝜔𝑐 𝜃3 − 4 𝐼3 − 𝐼2 𝜔𝑐2 𝜃1 = 0
𝐼2 𝜃2 + 3𝜔𝑐2 𝐼1 − 𝐼3 𝜃2 = 0
𝐼3 𝜃3 + 𝐼3 + 𝐼1 − 𝐼2 𝜔𝑐 𝜃1 + 𝐼2 − 𝐼1 𝜔𝑐2 𝜃3 = 0
 Gravity Gradient Stabilization
The picth equation ( 𝜃2 ) is uncoupled with the two others roll
and yaw (𝜃1 , 𝜃3 ), so considering it in the state space form

𝑥 + 𝑘𝑥 = 0

with 𝑘 = (𝐼1 − 𝐼3 )/𝐼2

The solution implies that the pitch motion (𝜃2 ) is stable if

𝐼1 > 𝐼3

The moment of inertia of the Earth point axis can not be the
bigger moment of inertia.
 Gravity Gradient Stabilization
For the first and third equations, one has
𝑀𝑥 + 𝐺𝑥 + 𝐾𝑥 = 0
𝑇
𝑥 = 𝜃1 𝜃3

𝐼1 0 0 −1
𝑀= , 𝐺 = 𝐼1 + 𝐼3 − 𝐼2 𝜔𝑐
0 𝐼3 1 0
4 𝐼2 − 𝐼3 0
𝐾= 𝜔𝑐2
0 (𝐼2 − 𝐼1 )

• The solution has the form

𝑐1 𝑐2
𝑥= 𝑒 𝜆𝑡 𝐶 = 𝑒 𝜆𝑡 𝑐3 𝑐4
 Gravity Gradient Stabilization
Applying the proposed solution

𝑒 𝜆𝑡 𝜆2 𝑀 + 𝜆𝐺 + 𝐾 𝐶0 = 0
𝜆2 𝑀 + 𝜆𝐺 + 𝐾 𝐶0 = 0
The stability conditions for the two others angles can be
obtained

𝜆2 𝐼1 + 4𝜔𝑐2 𝐼2 − 𝐼3 −𝜆𝜔𝑐 (𝐼1 + 𝐼3 − 𝐼2 )

2 2 =0
𝜆𝜔𝑐 (𝐼1 + 𝐼3 − 𝐼2 ) 𝜆 𝐼3 + 𝜔𝑐 𝐼2 − 𝐼1
𝜆4 𝐼1 𝐼3 + 𝜆2 𝜔𝑐2 𝐼1 𝐼2 − 𝐼1 + 4𝐼3 𝐼2 − 𝐼3 + 𝐼1 + 𝐼3 − 𝐼2 2

+ 4𝜔𝑐4 𝐼2 − 𝐼1 𝐼2 − 𝐼3 = 0
𝑘1 = (𝐼2 − 𝐼3 )/𝐼1
𝑘3 = (𝐼2 − 𝐼1 )/𝐼3
25
 Gravity Gradient Stabilization

4 2
𝜆 𝜆
+ 1 + 3𝑘1 + 𝑘1 𝑘3 + 4𝑘1 𝑘3 = 0
𝜔𝑐 𝜔𝑐
2
𝜆
𝑠= , 𝑠 2 + 𝑏1 𝑠 + 𝑏0 = 0
𝜔𝑐
𝑏0 > 0 𝑏1 > 0 𝑏12 − 4𝑏2 > 0

The condition for 𝜃2

𝐼1 > 𝐼3 → 𝑘1 > 𝑘3
 Gravity Gradient Stabilization
Puting together all conditions

𝑘1 > 𝑘3
𝑘1 𝑘3 > 0
1 + 3𝑘1 + 𝑘1 𝑘3 > 0
1 + 3𝑘1 + 𝑘1 𝑘3 2 − 16𝑘1 𝑘3 > 0

In order to visualize the stability regions in the space of these

parameters, one considers a stability diagram of K1 x K3
 Gravity Gradient Stabilization
Region of stability for the parameters 𝑘1 x 𝑘3

Stables regions

D*2=DeBra-Delp

and

Lagrange
 Spin Stabilization
It’s an easy way to obtain a quite systematic behavior of a
satellite motion.

This kind of satellite requires a simpler instrumentation (actuator

and sensors) than a 3-axes stabilized satellite.

Another advantage: bigger angular momentum provides more

resistance to perturbation torques -> gyroscopic rigidity

Two types of spin stabilization: (i) simple, with one unique body
spinning; (ii) dual spin, when the satellite is composed by 2
bodies spinning with different angular velocities.

Spin stabilization is usually adopted in communication satellites.

 One axis Spin Stabilization
Motion equation in the body frame

𝑑
ℎ+𝜔×ℎ =𝜏
𝑑𝑡

ℎ1 + 𝜔2 ℎ3 − 𝜔3 ℎ2 = 𝜏1
ℎ2 + 𝜔3 ℎ1 − 𝜔1 ℎ3 = 𝜏2
ℎ3 + 𝜔1 ℎ2 − 𝜔2 ℎ1 = 𝜏3

𝑑 𝑑
𝐼 𝜔 + 𝜔 𝐼 + 𝜔 × (𝐼𝜔) = 𝜏
𝑑𝑡 𝑑𝑡
 One axis Spin Stabilization

Considering a rigid body

𝑑
𝐼=0
𝑑𝑡
𝑑
𝜔 = −𝐼 −1 𝜔 × 𝐼𝜔 + 𝐼 −1 𝜏
𝑑𝑡

And the matrix moment of inertia

𝐼1 𝐴 0 0
𝐼 = diag 𝐼2 = 0 𝐵 0
𝐼3 0 0 𝐶
 One axis Spin Stabilization
For the case where there is no external torque τ=0 , and the
satellite has one axis of symmetry A=B.

𝐴𝜔1 + 𝐶 − 𝐴 𝜔2 𝜔3 = 0
𝐴𝜔2 + 𝐴 − 𝐶 𝜔3 𝜔1 = 0
𝐶𝜔3 = 0

Taking the time derivatives of the first equation, and substituting

the second equation and since the third equation 𝜔3 = n is cte.

𝜔1 + 𝜆2 𝜔1 = 0

𝐶−𝐴
𝜆= 𝑛
𝐴
 One axis Spin Stabilization
The solutions for the 𝜔1 and 𝜔2 have the form (a, b, c and d are
constants depending of initial conditions)

𝜔1 = 𝑎 cos 𝜆𝑡 + 𝑏 sin 𝜆𝑡
𝜔2 = 𝑐 cos(𝜆𝑡) + 𝑑 sin(𝜆𝑡)

raising to the square and derivating 𝜔1 and 𝜔2 one has

𝑑
𝜔12 + 𝜔22 = 0
𝑑𝑡
which is equivalent to

𝜔𝑡 = 𝜔12 + 𝜔22 1/2 (normal to 𝑒3 )

𝜔 = 𝜔𝑡2 + 𝑛2 1/2 (satellite angular velocity)
 One axis Spin Stabilization
Considering a cylindrical satellite (body frame (𝑒1 , 𝑒2 , 𝑒3 ) spinning
around another frame (𝐸1 , 𝐸2 , 𝐸3 ), where one can identify.

𝜔𝑡 = 𝜔12 + 𝜔22 1/2

𝑛 = 𝜔3
𝜔 = 𝜔𝑡2 + 𝑛2 1/2

What happens with ω ?

𝜔𝑡 > = 𝑛
or
𝑛 > 𝜔𝑡
 One axis Spin Stabilization
Identifying the nutation angle 𝜃 and the angle 𝛾 by

ℎ𝑡 𝐴𝜔𝑡
tan 𝜃 = =
ℎ3 𝐶𝜔3
𝜔𝑡
tan ϒ =
𝜔3

Let’s analyze these angles

consirerinng
𝐶−𝐴
𝜆= 𝑛
𝐴
 One Axis Spin Stabilization
If C > A : ϒ > ϴ

Retrograde precession

The vector ℎ lies

between the axis ê3
and vector 𝜔

The vector 𝜔 also

generates a cone
around the vector ℎ
 One axis Spin Stabilization
If C < A : ϒ < ϴ

Direct precession

The vector 𝜔 lies

between the axis ê3
and vector ℎ

The vector 𝜔 also

generates a cone
around the vector ℎ
 One axis Spin Stabilization

The satellite shapes suggest that the rotation is more stable when C > A than C < A.
That is: the rotation is more stable around the axis of greatest moment of inertia
 One axis Spin Stabilization
Single Spin precession φ, nutation θ and Rotation (spin) ψ

SCD-1
 Dual-Spin Stabilization
Dual-spin stabilization applies to spacecraft with two components that are spinning relative
to each other. Typically one body is spinning relatively fast and the other is spinning
relatively slow. The first result involves only rigid bodies, and concludes that a spinning
wheel can be used to stabilize spin about any axis.

However, the energy sink analysis and concludes that a minor axis spin is stable if the
energy dissipation on the rapidly spinning component is smaller than the energy dissipation
on the slowly spinning component.

H = hs + hw

Real spacecraft have, at least, some no rigid properties, which include: elastic structural
deflection and sloshing .
A lessons learned from the past: Explorer I (1958)
The shape of the rockets.
 Second set of exercises : Spin Stabilization
1)A satellite with cylindrical shell is rotating in torque-free motion about its
longitudinal axis z. If the axis is wobbling slightly, determine the ratios l/r
(length /radius) for which the precession will be prograde or retrograde.
z

2)Determine the rotation matrix R (3, 1, 3) that relates the inertial system {i} and the
satellite body system {b} , considering that the time rates of change of the Euler angles
(φ , θ , ψ) are precession ωp, nutation ωn and spin ωs .

3) Considering the previous matrix R(3,1,3), find the matrix 𝑆 Θ and 𝑆 Θ −1

relating Θ = 𝑆 Θ 𝜔𝑏𝑏𝑖 and Θ = 𝑆 Θ −1 𝜔𝑏𝑏𝑖 .

 STABILITY - TORQUE-FREE MOTION
4) Investigate the stability of a rigid body in torque-free motion, considering that its
angular velocity vector directed along the principal body z axis is ωz=ω0k, where ω0 is
constant, the nutation angle is zero and there is no precession. In that case the
perturb motion is slightly, so that
ωx = δωx ωy = δωy ωz = ω0 + δωz

where δωx << ω0 and δωy << ω0 and for torque-free motion the Euler’s equations are

Aω˙x + (C − B)ωy ωz = 0
Bω˙y + (A − C)ωx ωz = 0
Cω˙z + (B − A)ωx ωy = 0

Hint :
a) Substituting the pertubations into the Euler equations and keeping in mind that ω˙0 = 0.
b) In the pertubed Euler equations neglect all products of the δωs (they are arbitrarily small).
c) From (b) it is possible to shown that that δωz is constant.
d) After that by differentiating Equation in x and substituting it in equation y , it is possible to find
both solutions and investigate the stability of the susyem in terms of A,B and C.

5) For the previous system, find the rotary kinetic energy equations of motion for the case (A=B)
and its derivative in relation to time to investigate the news conditions of stability in terms of A, B
and B.
 Some references
• M. H. Kaplan, “Modern spacecraft dynamics & control”. Wiley, 1976.
• V. A. Chobotov. “Spacecraft Attitude Dynamics and Control”. Krieger, 1991.
• Bong Wie. “Space Vehicle Dynamics and Control”. AIAA, 1998.
• M. D. Shuster, “A Survey of Attitude Representations,” The Journal of the
Astronautical Sciences, Vol. 41, No. 4, 1993, pp. 439–517.
• A. C. Santana, L. S. Martins-Filho, R. O. Duarte, G. Arantes Jr, I. R. S. Casella,
"Attitude control of a satellite by using digital signal processing". Journal of
Aerospace Technology and Management, v. 4, p. 15-24, 2012.
• L. S. Martins-Filho, A. C. Santana, R. O. Duarte, G. Arantes Jr, "Processor-in-
the-Loop Simulations Applied to the Design and Evaluation of a Satellite
Attitude Control". In: J. Awrejcewicz (Org.), Computational and Numerical
Simulations. InTech, 2014.
• A. Isidori, "Nonlinear Control Systems". Springer, 1985.
• J.-J. Slotine, W. Li, "Applied Nonlinear Control", , Prentice-Hall, 1991.
• T. Çimen, "State-Dependent Riccati Equation (SDRE) Control: A Survey".
Proc. of 17th World Congress IFAC, Korea, 2008