Figure 1.
Top-level Simulink scheme of the control algorithm
Figure 2.
Roll angle extrapolation block scheme (signal frequencies denoted in blue font)
Figure 3.
Simplified sequence of events before activation of the thrusters
Figure 4.
Software development process
Figure 5.
Three-dimensional flight trajectory
Figure 6.
Position errors (in the last phase of flight)
Figure 7.
Angular rates
Figure 8.
Euler angles (roll, pitch, and yaw)
Figure 9.
Forces generated by lateral motors
Figure 10.
Impact point dispersion (uncontrolled flights)
Figure 11.
Impact point dispersion (controlled flights)
Figure 12.
Number of activated lateral motors
Figure 13.
Time differences in firing commands (Simulink vs C code)
Figure 14.
Control system prototype during the laboratory experiments
Figure 15.
Coordinate systems