Optimal control of rigid body motion with the help of rotors using stereographic coordinates

Awad El-Gohary

Chaos, Solitons & Fractals, 2005, vol. 25, issue 5, 1229-1244

Abstract: This paper considers the problem of optimal controlling the rotational motion of a rigid body using three independent control torques developed by three rotors attached with the principal axes of inertia of the body and rotate with the help of electric motors rigidly mounted on the body. The optimal control law is given as non-linear function of new parameterizations of the rotation group derived by using the stereographic projection of the Euler parameters. Given a cost function we seek for a stabilizing feedback control law that minimizes this cost and asymptotically stabilizes the rotational motion of the body. The stabilizing properties of the proposed controllers are proved by using the optimal Liapunov function. Numerical examples and simulation study are presented.

Date: 2005
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

Downloads: (external link)
http://www.sciencedirect.com/science/article/pii/S0960077905000214
Full text for ScienceDirect subscribers only

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:eee:chsofr:v:25:y:2005:i:5:p:1229-1244

DOI: 10.1016/j.chaos.2004.11.072

Access Statistics for this article

Chaos, Solitons & Fractals is currently edited by Stefano Boccaletti and Stelios Bekiros

More articles in Chaos, Solitons & Fractals from Elsevier
Bibliographic data for series maintained by Thayer, Thomas R. ().