Asymptotic Stability of Rigid Body Attitude Systems

Jinglai Shen, Amit K. Sanyal, N. Harris McClamroch

Research output: Contribution to journalConference article

5 Scopus citations

Abstract

A rigid body, supported by a fixed pivot point, is free to rotate in three dimensions. Two cases are studied: the balanced case, whose dynamics are described by the Euler equations for a free rigid body, and the unbalanced case, whose dynamics are described by the heavy top equations. Both cases include linear passive dissipation effects. For each case, conditions are presented that guarantee asymptotic stability for relevant equilibrium solutions. The developments are based on a careful treatment of nonlinear coupling in applying LaSalle's invariance principle. Emphases are given to the partial damping cases; an approach based on the polynomial structure of the dynamics is used to obtain asymptotic stability conditions for these cases.

Original languageEnglish (US)
Pages (from-to)544-549
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume1
StatePublished - Dec 1 2003
Externally publishedYes
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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