Geometric Collocation Method on SO(3) with Application to Optimal Attitude Control of a 3D Rotating Rigid Body

Figure 4

The optimal state and control of the pendulum obtained by LG-GPC, LG-PC, and NRF.

(a) Angular configuration versus time

(b) Angular configuration versus time

(c) Angular velocity versus time

(d) Angular velocity versus time

(e) Control versus time

(f) Control versus time