Stabilization of rigid body dynamics using the Serret-Andoyer variables

被引：0
|
作者：
Gurfil, P
机构：
来源：
ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7 | 2005年
关键词：
D O I：
10.1109/ACC.2005.1470284
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper develops a new controller for stabilization of rigid body dynamics. The state-space model is formulated using canonical elements, known as the Serret-Andoyer variables, thus far unused for engineering applications. The controllability of the problem is examined and a damping feedback is derived using the Jurdjevic-Quinn method. It is shown that the new feedback controller is an asymptotic smooth feedback stabilizer. The performance of the new controller is examined in a simulation, showing excellent dynamic closed-loop behavior.
引用
收藏
页码：2122 / 2127
页数：6
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