This abstract discusses the stabilization of uniform rigid body rotation about an arbitrary axis by feedback control. The class of feedback control laws considered is linear and is shown to robustly stabilize rotation with respect to inertia uncertainty. The methodology developed in this paper is based on the energy-momentum method of stability analysis and fully exploits the underlying geometry. The methodology is illustrated with several examples.
Bibliographical noteFunding Information:
The problem of stabilization and stability analysis of rigid bodies, systems of rigid bodies, and rigid bodies with attached flexible appendages has received a great deal of attention in recent years. Much of this work deals with the stabilization of zero angular velocity of a rigid body in a body frame coincident with the principal axes of inertia. This approach is taken for example in \[1, 2, 5\]. In \[5\] asymptotic stabilization of rotation about a principal axis was studied. The problem of stabilizing the uniform rotation of a rigid body about an intermediate principal axis of inertia is investigated in \[3,4, 12\]. However, in many Correspondence to." R. Zhao, Department of Aerospace Engineering and Mechanics, 107 Akerman Hall, University of Minnesota, Minneapolis, MN 55455, USA. * Research supported in part by NSF/MSS-9009707.
- Rigid body
- energy-momentum method
- robust stability