Stabilization of Rigid Body Dynamics by Internal and External Torques

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dc.contributor.authorBloch, Anthony M.en_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.contributor.authorMarsden, Jerrold E.en_US
dc.contributor.authorSanchez de Alvarez, G.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:46:14Z
dc.date.available2007-05-23T09:46:14Z
dc.date.issued1990en_US
dc.description.abstractIn this paper we discuss the stabilization of the rigid body dynamics by external torques (gas jets) and internal torques (momentum wheels). We compare the stabilizing quadratic quadratic feedback law for a single external torque recently analyzed in Bloch and Marsden [1989b,c] with quadratic feedback torques for internal rotors. We show that with such torques, the equations for the rigid body with momentum wheels are Hamiltonian with respect to a Lie-Poisson bracket structure. Further, these equations are shown to generalize the dual-spin equations analyzed by Krishnaprasad [1985] and Sanchez de Alvarez [1986]. We establish stabilization with a single rotor by using the energy-Casimir method. We also show how to realize the external torque feedback equations using internal torques. Finally, extending some work of Montgomery [1990], we derive a formula for the attitude drift for the rigid body-rotor system when it is perturbed away from stable equilibrium and we indicate how to compensate for this.en_US
dc.format.extent1037103 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5006
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1990-58en_US
dc.subjectgeometric controlen_US
dc.subjectstabilityen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleStabilization of Rigid Body Dynamics by Internal and External Torquesen_US
dc.typeTechnical Reporten_US

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