Path: Common/Control
% A 3-axis proportional controller
The control acceleration is equal to the angle error times the gain. Use
max_angle to limit the maximum requested angular change per step. The control
target is a desired quaternion. The axis and angle are used only to create a
prior target on initialization.
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Forms:
d = P3Axis;
[torque, d] = P3Axis( qECIToBody, d )
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Input
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qECIToBody (4,1) ECI to body quaternion
d (.) Data structure
.gain (1,1) Control gain
.q_desired_state (4,1) Target quaternion
. .q_target_last (4,1) Last target
.axis (3,1) Axis of rotation
.angle (1,1) Angular increment around axis
.max_angle (1,1) Maximum angle per step (rad)
.inertia (3,3) Inertia
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Output
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torque (3,1) Control torque
d (.) Data structure
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Common: Quaternion/AU2Q Common: Quaternion/Q2AU Common: Quaternion/QMult Common: Quaternion/QPose
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