A Serret-Andoyer transformation analysis for the controlled rigid body

The Serret-Andoyer transformation is a classical method for reducing the free rigid body dynamics, expressed in Eulerian coordinates, to a 2D Hamiltonian flow. First, we generalize the Serret-Andoyer transformation to the case of Hamiltonian systems on T*SO(3) with left-invariant, hyperregular Hamiltonian functions, and show that this transformation is the computation, in 3-1-3 Eulerian coordinates, of the symplectic (Marsden-Weinstein) reduction. Interpretations of the Serret-Andoyer variables, both as Eulerian coordinates and as canonical coordinates of the co-adjoint orbit, are given. Next, we apply the result obtained to the controlled rigid body with momentum wheels. For the class of Hamiltonian controls that preserve the symmetry on T*SO(3), the closed-loop motion of the main body can again be reduced to canonical form. This allows a simple stability proof for relative equilibria by verifying the classical Lagrange-Dirichlet criterion