Reorientation of Asymmetric Rigid Body Using Two Controls

Table 3

Comparison between guesses and found values (torque-rate minimization).

Parameter	Guess	Found value
𝝁𝑡0	[0, 0, 0]^𝑇	[2.040, 0, 0]^𝑇
𝝃𝑡0	[0, 0, 0]^𝑇	[1.117, −0.001, −0.310]^𝑇
𝜼𝑡0	[0, 0]^𝑇	[0.310, 0]^𝑇
𝝁𝑡𝑓	[0, 0, 0]^𝑇	[−2.898, −0.710, −115.523]^𝑇
𝝃𝑡𝑓	[0, 0, 0]^𝑇	[2.528, 3.429, −7.982]^𝑇
𝜼𝑡𝑓	[0, 0]^𝑇	[0.310, −0.003]^𝑇
𝜶1	[0, 0, 0]^𝑇	[−5.286, −1.983, 148.211]^𝑇
𝜶2	[0, 0, 0]^𝑇	[−3.354, −2.203, 6.941]^𝑇
𝜶3	[0, 0]^𝑇	[0.146, −0.263]^𝑇
𝑡𝑠	15	12.930