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Stabilization of rigid body dynamics by the Energy-Casimir method

Bloch, Anthony M. and Marsden, Jerrold E. (1990) Stabilization of rigid body dynamics by the Energy-Casimir method. Systems and Control Letters, 14 (4). pp. 341-346. ISSN 0167-6911. http://resolver.caltech.edu/CaltechAUTHORS:20100714-145003782

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Abstract

We show how the Energy-Casimir method can be used to prove stabilizability of the angular momentum equations of the rigid body about its intermediate axis of inertia, by a single torque applied about the major or minor axis. We also show how this system has associated with it, a Lie-Poisson bracket which is invariant under SO(3) for small feedback, but is invariant under SO(2, 1) for feedback large enough to achieve stability.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1016/0167-6911(90)90055-YDOIUNSPECIFIED
http://www.cds.caltech.edu/~marsden/bib/1990/01-BlMa1990/BlMa1990.pdfAuthorUNSPECIFIED
Additional Information:© 1990 Elsevier. Received October 1989. Revised February 1990. Available online 3 March 2003. Research supported in part by NSF Grant DMS-87-01S16, AFOSR Grant AFOSR-ISSA-87-0077, and MSI at Cornell University. Reserach partially supported by AFOSR Grant AFOSR- 89-0226A. and MSI and Cornell University
Funders:
Funding AgencyGrant Number
NSF DMS-87-01S16
Air Force Office of Scientific Research (AFOSR)ISSA-87-0077
MSI/Cornell UniversityUNSPECIFIED
Air Force Office of Scientific Research (AFOSR)89-0226A
Subject Keywords:Stabilization; feedback; rigid body; Energy-Casimir; Hamiltonian.
Record Number:CaltechAUTHORS:20100714-145003782
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20100714-145003782
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:19053
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:15 Jul 2010 00:23
Last Modified:26 Dec 2012 12:14

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