E

n e w where i*, j* and k* are unit vectors along the axes of S* with respect to , and these vectors can be obtained from the rotational matrix (Luh et al., 1980):

Using Equations (13) and (17) actual control input for UVMS is calculated by u — M(q)a'ef + N(q,ZZ + f . (20)

Here, we represent the matrices and vectors of Equation (13) to the block matrix form:

nmb n mm

, fD =

' fB '

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