Explicit reference governor on [formula omitted] for torque and pointing constraint management.

This paper focuses on the constrained attitude control of a rigid body. We propose an Explicit Reference Governor (ERG) specifically designed to handle constraints on S O (3). Two types of constraints are considered: (i) input torque constraints, and (ii) geometric conic pointing constraints. The objective of this paper is to design a control law that is able to steer the attitude of a rigid body to the desired attitude reference while enforcing constraints at all times. To this end, the first step is to design a controller that makes the desired attitude asymptotically stable when constraints (i) and (ii) are neglected. Next, the proposed control scheme is augmented with a novel ERG scheme able to add constraint-handling capabilities to the overall architecture. All the proposed solutions are defined in terms of S O (3) and do not make use of any parameterization such as quaternions or Euler angles. Numerical simulations are carried out to show the effectiveness of the proposed control scheme. [ABSTRACT FROM AUTHOR]