|
|||||
|
|
Global asymptotic stabilization of the attitude and the angular rates of an underactuated non-symmetric rigid body |
|
| Authors: | Daniele Casagrande [Author Vitae] Alessandro Astolfi [Author Vitae] Thomas Parisini [Author Vitae] |
| Affiliation: | a Dip. di Elettrotecnica, Elettronica ed Informatica, Università degli Studi di Trieste, via A. Valerio 10, 34127 Trieste, Italy b Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, London SW7 2AZ, UK c Dip. di Informatica Sistemi e Produzione, Università di Roma “Tor Vergata”, Via del Politecnico 1 - 00133 Roma, Italy |
| Abstract: | The paper deals with the global stabilization of both the attitude and the angular velocities of an underactuated rigid body. First a stability theorem is proven for a class of systems; subsequently, the equations describing the physics of the rigid body are presented, showing that the rigid body belongs to the considered class of systems, and a sufficient condition for the application of the theorem to the stability of the rigid body equilibrium is pointed out. Finally, some simulation results are reported showing the effectiveness of the proposed methodology. |
| Keywords: | Rigid body Switching control Lyapunov function |
| 本文献已被 ScienceDirect 等数据库收录！ | |