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arXiv · 2512.05888

Log-linear Dynamic Inversion for Thrusting Spacecraft on SE2(3)

Micah K. Condie·Abigaile E. Woodbury·Li-Yu Lin·Kartik A. Pant·Michael Walker·James Goppert
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Abstract

We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the $SE_2(3)$ Lie group, and the nonlinearity can be bounded, or removed with the application of a dynamic inversion control law. A numerical example validates the results by showing agreement between the error predicted by the log-dynamics and the error obtained from classical integration of trajectories using Newtonian dynamics. The result clarifies how thrusting spacecraft dynamics fit within the invariant systems framework.

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Micah K. Condie, Abigaile E. Woodbury, Li-Yu Lin, Kartik A. Pant, Michael Walker, James Goppert. 2025-12-05. Log-linear Dynamic Inversion for Thrusting Spacecraft on SE2(3). https://arxiv.org/abs/2512.05888

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