Quaternion versus Rotation Matrix Feedback for Spacecraft Attitude Stabilization Using Magnetorquers

Abstract

The purpose of this paper is to compare performances between stabilization algorithms of quaternion plus attitude rate feedback and rotation matrix plus attitude rate feedback for an Earth-pointing spacecraft with magnetorquers as the only torque actuators. From a mathematical point of view, an important difference between the two stabilizing laws is that only quaternion feedback can exhibit an undesired behavior known as the unwinding phenomenon. A numerical case study is considered, and two Monte Carlo campaigns are carried out: one in nominal conditions and one in perturbed conditions. It turns out that quaternion feedback compares more favorably in terms of the speed of convergence in both campaigns, and it requires less energy in perturbed conditions.