Solvability analysis of moving mass noninteracting control problem

To solve the three-channel attitude tracking problem of moving mass control, the solvability of moving mass noninteracting control problem(MMNCP) is researched. Firstly, dynamic and kinematic models of a moving mass actuated vehicle are established based on the vector mechanics, and expressed in form of an affine nonlinear system. Secondly, noninteracting control problem of a moving mass actuated vehicle with three control variables defined as the MMNCP is studied by deriving and analyzing the system decoupled matrix. Direct decoupling matrix, singular set and singular feature parameter of MMNCP are defined. Besides, three types of solvability and the corresponding judgment criterion according to singular set are proposed. Finally, numerical and symbolic calculations are used to analyze the affection of moving mass general parameters on the singular feature parameter, from which some useful conclusions are obtained. This research reveals the main factors that influence the solvability of the MMNCP, and provides an reference for the optimization of moving mass general parameters.