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. doi:10.1016/0167-6911(90)90055-Y. https://resolver.caltech.edu/CaltechAUTHORS:20100714-145003782

PDF - Published Version
Restricted to Repository administrators only
See Usage Policy.
292kB

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20100714-145003782

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:

URL	URL Type	Description
http://dx.doi.org/10.1016/0167-6911(90)90055-Y	DOI	UNSPECIFIED
http://www.cds.caltech.edu/~marsden/bib/1990/01-BlMa1990/BlMa1990.pdf	Author	UNSPECIFIED

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 Agency	Grant Number
NSF	DMS-87-01S16
Air Force Office of Scientific Research (AFOSR)	ISSA-87-0077
MSI/Cornell University	UNSPECIFIED
Air Force Office of Scientific Research (AFOSR)	89-0226A

Subject Keywords:

Stabilization; feedback; rigid body; Energy-Casimir; Hamiltonian.

Issue or Number:

DOI:

10.1016/0167-6911(90)90055-Y

Record Number:

CaltechAUTHORS:20100714-145003782

Persistent URL:

https://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:

08 Nov 2021 23:49

Repository Staff Only: item control page