DocumentCode
2254699
Title
Global stabilization of the spinning top with mass imbalance
Author
Lum, Kai-Yew ; Bernstein, Dennis S. ; Coppola, Vincent T.
Author_Institution
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
Volume
3
fYear
1995
fDate
21-23 Jun 1995
Firstpage
1826
Abstract
We define the sleeping motion and show that it is a solution of the equations of motion of a balanced top. In the general case of a top with known mass imbalance, we derive two families of globally asymptotically stabilizing control laws for the sleeping motion based on Hamilton-Jacobi-Bellman theory with zero dynamics. Two actuation schemes using torque actuators are considered
Keywords
asymptotic stability; dynamics; matrix algebra; motion control; rotating bodies; vibration control; Hamilton-Jacobi-Bellman theory; asymptotic stability; global stabilization; inertia matrix; mass imbalance; sleeping motion; spinning top; torque actuators; zero dynamics; Actuators; Aerodynamics; Equations; Gravity; Jacobian matrices; Lagrangian functions; Motion control; Spinning; Torque control; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.531200
Filename
531200
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