Switching algorithm to avoid attitude representation singularity

In this paper, the singularity associated with a minimal attitude parameterization using Euler angles is avoided by a switching algorithm. This algorithm is based on describing the attitude as a function of time with two sets of Euler angle sequences that possess nonconjunctive singularities. This p...

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Main Authors:	Okasha, Mohamed Elsayed Aly Abd Elaziz, Newman, Brett
Format:	Conference or Workshop Item
Language:	English
Published:	2009
Subjects:	TA329 Engineering mathematics. Engineering analysis TA349 Mechanics of engineering. Applied mechanics TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/38697/ http://irep.iium.edu.my/38697/ http://irep.iium.edu.my/38697/1/6%252E2009-6149.pdf

id	iium-38697
recordtype	eprints
spelling	iium-386972014-10-14T07:58:24Z http://irep.iium.edu.my/38697/ Switching algorithm to avoid attitude representation 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 avoided by a switching algorithm. This algorithm is 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 several nonlinear six degree of freedom simulation tests. 2009-08 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/38697/1/6%252E2009-6149.pdf Okasha, Mohamed Elsayed Aly Abd Elaziz and Newman, Brett (2009) Switching algorithm to avoid attitude representation singularity. In: AIAA Atmospheric Flight Mechanics Conference, 10-13 August 2009, Chicago, Illinois. http://arc.aiaa.org/doi/abs/10.2514/6.2009-6149
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 algorithm to avoid attitude representation singularity
description	In this paper, the singularity associated with a minimal attitude parameterization using Euler angles is avoided by a switching algorithm. This algorithm is 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 several nonlinear six degree of freedom simulation tests.
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 algorithm to avoid attitude representation singularity
title_short	Switching algorithm to avoid attitude representation singularity
title_full	Switching algorithm to avoid attitude representation singularity
title_fullStr	Switching algorithm to avoid attitude representation singularity
title_full_unstemmed	Switching algorithm to avoid attitude representation singularity
title_sort	switching algorithm to avoid attitude representation singularity
publishDate	2009
url	http://irep.iium.edu.my/38697/ http://irep.iium.edu.my/38697/ http://irep.iium.edu.my/38697/1/6%252E2009-6149.pdf
first_indexed	2023-09-18T20:55:37Z
last_indexed	2023-09-18T20:55:37Z
_version_	1777410283682136064

Switching algorithm to avoid attitude representation singularity

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