A NONLINEAR GAME PROBLEM OF REORIENTATION OF AN ASYMMETRIC RIGID BODY

A nonlinear game problem of reorientation of an asymmetric rigid body by bounded controls is considered. The body is subject to uncontrolled disturbances. Upper bounds of these disturbances arc known and they are not assumed to be small. It is required that during the reorientation process the body is transferred from a stale of rest (or a state close to that of rest) to a prescribed angular position in the inertial reference frame. This transfer must be accomplished in a finite time detennined by the time-optimality condition. By selecting the structure of controls, one can reduce the input problem to an auxiliary linear game problem. This makes it possible to obtain sufficient conditions for solvability of the input problem and an estimate of guaranteed reorientation time which depends only on the upper bounds of the controls and disturbances. Computer simulation results are presented.