Switching principles to circumvent Euler angle singularity

In this paper, the singularity associated with a minimal attitude parameterization using Euler angles is circumvented by recently developed switching principles. These principles are based on describing the attitude as a function of time with two sets of Euler angle sequences that possess nonconjunc...

Full description

Bibliographic Details
Main Authors:	Okasha, Mohamed Elsayed Aly Abd Elaziz, Newman, Brett
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TA329 Engineering mathematics. Engineering analysis TA349 Mechanics of engineering. Applied mechanics TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/38704/ http://irep.iium.edu.my/38704/ http://irep.iium.edu.my/38704/1/6%252E2010-7651.pdf

id	iium-38704
recordtype	eprints
spelling	iium-387042014-10-14T08:09:03Z http://irep.iium.edu.my/38704/ Switching principles to circumvent Euler angle singularity Okasha, Mohamed Elsayed Aly Abd Elaziz Newman, Brett TA329 Engineering mathematics. Engineering analysis TA349 Mechanics of engineering. Applied mechanics TJ212 Control engineering In this paper, the singularity associated with a minimal attitude parameterization using Euler angles is circumvented by recently developed switching principles. These principles are based on describing the attitude as a function of time with two sets of Euler angle sequences that possess nonconjunctive singularities. This property exists when the singularity causing values of the relevant rotation variables associated with any two Euler angle sequences do not materialize simultaneously. For a given Euler angle set, either antisymmetric or symmetric, another Euler angle set exists such that the pair of representations possesses nonconjunctive singularities. Conditions determining when, and when not, a pair of representations possess this property are developed and analyzed. Nonconjunctive symmetric-antisymmertic and antisymmetric-antisymmetric pairs always exist. This property is exploited by a switching algorithm which facilitates motion description with a minimal parameterization not hindered by singularities. This description may possess computational savings and allow continued use of insightful variables when compared with nonminimal representations such as Euler parameters. The algorithm is numerically demonstrated and validated by a nonlinear six degree of freedom closed-loop spacecraft simulation test. 2010-08 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/38704/1/6%252E2010-7651.pdf Okasha, Mohamed Elsayed Aly Abd Elaziz and Newman, Brett (2010) Switching principles to circumvent Euler angle singularity. In: AIAA/AAS Astrodynamics Specialist Conference, 2-5 August 2010, Toronto, Ontario Canada. http://arc.aiaa.org/doi/abs/10.2514/6.2010-7651
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA329 Engineering mathematics. Engineering analysis TA349 Mechanics of engineering. Applied mechanics TJ212 Control engineering
spellingShingle	TA329 Engineering mathematics. Engineering analysis TA349 Mechanics of engineering. Applied mechanics TJ212 Control engineering Okasha, Mohamed Elsayed Aly Abd Elaziz Newman, Brett Switching principles to circumvent Euler angle singularity
description	In this paper, the singularity associated with a minimal attitude parameterization using Euler angles is circumvented by recently developed switching principles. These principles are based on describing the attitude as a function of time with two sets of Euler angle sequences that possess nonconjunctive singularities. This property exists when the singularity causing values of the relevant rotation variables associated with any two Euler angle sequences do not materialize simultaneously. For a given Euler angle set, either antisymmetric or symmetric, another Euler angle set exists such that the pair of representations possesses nonconjunctive singularities. Conditions determining when, and when not, a pair of representations possess this property are developed and analyzed. Nonconjunctive symmetric-antisymmertic and antisymmetric-antisymmetric pairs always exist. This property is exploited by a switching algorithm which facilitates motion description with a minimal parameterization not hindered by singularities. This description may possess computational savings and allow continued use of insightful variables when compared with nonminimal representations such as Euler parameters. The algorithm is numerically demonstrated and validated by a nonlinear six degree of freedom closed-loop spacecraft simulation test.
format	Conference or Workshop Item
author	Okasha, Mohamed Elsayed Aly Abd Elaziz Newman, Brett
author_facet	Okasha, Mohamed Elsayed Aly Abd Elaziz Newman, Brett
author_sort	Okasha, Mohamed Elsayed Aly Abd Elaziz
title	Switching principles to circumvent Euler angle singularity
title_short	Switching principles to circumvent Euler angle singularity
title_full	Switching principles to circumvent Euler angle singularity
title_fullStr	Switching principles to circumvent Euler angle singularity
title_full_unstemmed	Switching principles to circumvent Euler angle singularity
title_sort	switching principles to circumvent euler angle singularity
publishDate	2010
url	http://irep.iium.edu.my/38704/ http://irep.iium.edu.my/38704/ http://irep.iium.edu.my/38704/1/6%252E2010-7651.pdf
first_indexed	2023-09-18T20:55:38Z
last_indexed	2023-09-18T20:55:38Z
_version_	1777410284696109056

Switching principles to circumvent Euler angle singularity

Similar Items