Canonical formalism for modelling and control of rigid body dynamics

This paper develops a new paradigm for stabilization of rigid-body dynamics. The state-space model is formulated using canonical elements, known as the Serret-Andoyer (SA) variables, thus far scarcely used for engineering applications. The main feature of the SA formalism is the reduction of the dynamics via the underlying symmetry stemming from conservation of angular momentum and rotational kinetic energy. The controllability of the system model is examined using the notion of accessibility, and is shown to be accessible from all points. Based on the accessibility proof, two nonlinear asymptotic feedback stabilizers are developed: a damping feedback is designed based on the Jurdjevic-Quinn method, and a Hamiltonian controller is derived by using the Hamiltonian as a natural Lyapunov function for the closed-loop dynamics. It is shown that the Hamiltonian control is both passive and inverse optimal with respect to a meaningful performance index. The performance of the new controllers is examined and compared using simulations of realistic scenarios from the satellite attitude dynamics field.