Design of partial optimal control for a nonlinear system and application to the attitude control of a control moment gyro

In this report, we consider the partial optimal control problem for a nonlinear system including conserved quantities. It is shown that the partial stabilization problem can be put in the framework of the output regulation problem. Using this framework, we propose a design method of optimal controllers for systems with a conservation law based on center-stable manifold computation, which is recently proposed one of the authors. It is, then, applied to the optimal attitude control for a control moment gyroscope. Simulation as well as experiment results show the effectiveness of the proposed approach, especially in terms of energy consumption.