Reorientation of Asymmetric Rigid Body Using Two Controls

Table 2

Comparison between guesses and found values (torque minimization).

Parameter	Guess	Found value
𝝁(𝑡0)	[0, 0, 0]^𝑇	[5.616, 0, 0]^𝑇
𝝃(𝑡0)	[0, 0, 0]^𝑇	[3.056, −0.004, −0.849]^𝑇
𝝁(𝑡𝑓)	[0, 0, 0]^𝑇	[−5.549, −1.053, −285.835]^𝑇
𝝃(𝑡𝑓)	[0, 0, 0]^𝑇	[5.929, 6.798, −10.628]^𝑇
𝜶1	[0, 0, 0]^𝑇	[−8.389, −5.949, 329.183]^𝑇
𝜶2	[0, 0, 0]^𝑇	[−5.322, −4.968, 8.416]^𝑇
𝑡𝑠	15	13.008