Orientation control using oscillating momentum wheels

Shaoqian Wang, Amir H. Ghasemi, Joshua L. Evans, T. Michael Seigler

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations


This paper addresses the problem of controlling a rigid body's orientation by actuating sinusoidal oscillations of internal momentum wheels. We consider the rotational dynamics of a rigid body having three momentum wheels (one for each bodyfixed axis) that are attached to the body by springs. Each wheel is actuated by an internal sinusoidal torque of fixed frequency. The frequency of all sinusoidal torques is equal, but the amplitudes and phases can be varied independently. We analyze the inverse-dynamics problem of determining the amplitudes and phases for each sinusoidal torque such that a desired orientation is achieved. We then present two closed-loop orientation controllers based on this analysis. Numerical simulations demonstrate the effectiveness of the control techniques.

Original languageEnglish
Title of host publicationAdaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2
Subtitle of host publicationHybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
ISBN (Electronic)9780791857243
StatePublished - 2015
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: Oct 28 2015Oct 30 2015

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015


ConferenceASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/TerritoryUnited States

Bibliographical note

Publisher Copyright:
Copyright © 2015 by ASME.

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Systems Engineering


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