Optimal Attitude Control of a Rigid Body using Geometrically Exact Computations on SO

@inproceedings{Lee2007OptimalAC,
  title={Optimal Attitude Control of a Rigid Body using Geometrically Exact Computations on SO},
  author={Taeyoung Lee and Melvin Leok and N. Harris McClamroch},
  year={2007}
}
An efficient and accurate computational approach is propose d for optimal attitude control of a rigid body. The problem is formulated directly as a d iscrete time optimization problem using a Lie group variational integrator. Discrete necessa ry conditions for optimality are derived, and an efficient computational approach is proposed to solve the resulting two point boundary value problem. The use of geometrically exact computations on SO(3) guarantees that this optimal control approach has… CONTINUE READING
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