Hello!

I was wondering if someone had a link for some papers or ressources describing the theory of a thruster mixer from scratch, given a frame. What are the usual tricks and algorithms? I suppose that some ODEs are involved?

In particular I would like the general case, where planarity and symmetry are not assumed (so thrusters are not symmetric around the center of mass and the thrusters are not pointing along the same vector).

I would really appreciate if someone would have some information!

Have a nice day!