Robust stabilization of a heavy top

Author

Posbergh, Thomas A. ; Egorov, Mikhail A.

Author_Institution

Dept. of Aerosp. Eng. & Mech., Minnesota Univ., Minneapolis, MN, USA

Volume

4

fYear

1998

fDate

16-18 Dec 1998

Firstpage

3593

Abstract

This paper investigates the robust stabilization of relative equilibria. The motivating example is that of a heavy top. For the heavy top conditions which ensure the robust stabilization of the system are derived and discussed. These conditions generalize previous results for the rigid body. These conditions are then examined in the case of structured uncertainty in the mass and inertia properties of the top. Bounds are obtained for the family of stabilizing feedback gains and the corresponding error in the rotation axis is investigated. These results are then applied to the specific example of a heavy top with a mass imbalance spinning below critical velocity

Keywords

dynamics; feedback; kinematics; nonlinear control systems; robust control; dynamics; feedback; heavy top; kinematics; mass imbalance spinning; nonlinear control systems; relative equilibria; rigid body; robust control; stabilization; Aerodynamics; Aerospace engineering; Algebra; Feedback; Kinematics; Mechanical systems; Robustness; Symmetric matrices; Uncertainty; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.761737

Filename

761737