Explicit reference governor on SO(3) · application study

Slewing a telescope around the Sun

This telescope has to swing 95° to its next target, and the Sun sits almost exactly on the way — looking within 25° of it would ruin the optics. The controller finds its own way around that no-look zone, without ever asking the reaction wheels for more torque than they have.
Mission elapsed
000.0s
Leaving target A

Reading the scene

  • Where the telescope is looking — the ray now, the trail behind it
  • Where the controller is telling it to look, a few degrees ahead
  • The shortest path, drawn in full from the start — straight through the Sun
  • The 25° no-look zone around the Sun
  • The wedge: the angle between the two, right now

Idealized: rigid body, no environmental torques, no wheel-momentum management, one keep-out cone. The torque bound is worst-case over the safe level set, so the realized torque sits well inside it.

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