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
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;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.531200
