Global Asymptotic Stabilization of a Spinning Top With Torque Actuators Using Stereographic Projection
نویسنده
چکیده
The dynamical equations for a spinning top are derived in which the orientation is specified by a complex variable using stereographic projection of Poisson’s equations. Necessary and sufficient conditions for Lyapunov stability of the uncontrolled motion of the spinning top are derived using the Energy-Casimir method. Control laws that globally asymptotically stabilize the spinning top to the sleeping motion using two torque actuators are synthesized by employing techniques from the theory of systems in cascade form and generalized using Hamilton-Jacobi-Bellman theory with zero dynamics. In short, this paper provides a nice example where the interplay between dynamics and control leads to elegant and powerful results.
منابع مشابه
Global Asymptotic Stabilization of a Spinning
The dynamical equations for a spinning top are derived in which the orientation is speciied by a complex variable using stereographic projection of Poisson's equations. Necessary and suucient conditions for Lyapunov stability of the uncontrolled motion of the spinning top are derived using the Energy-Casimir method. Control laws that globally asymptotically stabilize the spinning top to the sle...
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