Title :
Rotational stabilization of a rigid body using two torque actuators
Author_Institution :
Fac. of Electron. Eng., GIK Inst. of Eng. Sci. & Technol., Topi, Pakistan
Abstract :
A time varying stabilizing feedback controller is constructed for a rigid body with two control torques by employing trajectory interception approach. This approach does not rely on any specific choice of a Lyapunov function. The proposed feedback law is a composition of a standard stabilizing feedback control for a Lie bracket extension of the original system and a periodic continuation of a solution to an open loop trajectory interception problem of original system and its Lie bracket extension on an interval [0 T].
Keywords :
Lie algebras; angular velocity control; asymptotic stability; closed loop systems; feedback; kinematics; position control; time-varying systems; Lie bracket; open loop problem; rigid body; rotational stabilization; standard stabilizing feedback control; time varying stabilizing feedback controller; torque actuators; trajectory interception; Actuators; Angular velocity; Control systems; Equations; Feedback control; Feedback loop; Lyapunov method; Motion control; Open loop systems; Torque control;
Conference_Titel :
Multi Topic Conference, 2001. IEEE INMIC 2001. Technology for the 21st Century. Proceedings. IEEE International
Print_ISBN :
0-7803-7406-1
DOI :
10.1109/INMIC.2001.995328
