A family of optimal nonlinear feedback controllers that globally stabilize angular velocity

Hamilton-Jacobi-Bellman theory is used to derive optimal nonlinear feedback control laws for a special class of nonlinear systems. The results are applied to a spacecraft angular velocity stabilization problem with two torque inputs. A family of optimal nonlinear feedback controllers that globally asymptotically stabilize angular velocity is established. Special cases of this family of controllers include generalizations of the locally stabilizing controllers of Brockett and Aeyels to global stabilization as well as the globally stabilizing controller of Byrnes and Isidori