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Closed-loop attitude steering can be used to implement a non-standardattitude maneuver by using a conventional attitude control system to track anon-standard attitude profile. The idea has been employed to performzero-propellant maneuvers on the International Space Station and minimum timemaneuvers on NASA's TRACE space telescope. A challenge for operationalimplementation of the idea is the finite capacity of a space vehicle's commandstorage buffer. One approach to mitigate the problem is to downsample-and-holdthe attitude commands as a set of waypoints for the attitude control system tofollow. In this paper, we explore the waypoint following dynamics of aquaternion error feedback control law for downsample-and-hold. It is shown thatdownsample-and-hold induces a ripple between downsamples that causes thesatellite angular rate to significantly overshoot the desired limit. Analysisin the $z$-domain is carried out in order to understand the phenomenon. Aninterpolating Chebyshev-type filter is proposed that allows attitude commandsto be encoded in terms of a set of filter coefficients. Using the interpolatingfilter, commands can be issued at the ACS rate but with significantly reducedmemory requirements. The attitude control system of NASA's Lunar ReconnaissanceOrbiter is used as an example to illustrate the behavior of a practicalattitude control system.

Waypoint Following Dynamics of a Quaternion Error Feedback Attitude Control System