Angular velocity free control laws of a rigid body motion using rotor system with friction

被引：0

作者：

El-Gohary, A ^{[1
]}

机构：

[1] Mansoura Univ, Fac Sci, Dept Math, Mansoura 35516, Egypt

来源：

INTERNATIONAL JOURNAL OF NONLINEAR SCIENCES AND NUMERICAL SIMULATION | 2005年 / 6卷 / 03期

关键词：

rigid body; passive properties; rotor system with friction; Liapunov function;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The paper assumes that only the measurements of the orientation parameters are available for the control of the rotational motion of a rigid body with the help of a rotor system with friction. The passive properties of the nonlinear dynamic equations as well as the structural properties of the kinematics equations are used to derive control laws where the angular velocity measurements are not used. The asymptotic stability of the desired motion is proved by using appropriate Liapunov function. Some special cases of the obtained results are derived. Important numerical results are introduced.

引用

页码：279 / 294

页数：16

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