Abstract
In this paper we present a stabilizing and coordinating control law for a network of spinning rigid bodies with unstable dynamics. The control law stabilizes each rigid body to spin about its unstable, intermediate axis while also aligning all of the spinning rigid bodies so that their orientations in inertial space are identical. The control law is derived using kinetic energy shaping for stabilization and potential shaping for coupling. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior.
| Original language | English (US) |
|---|---|
| Article number | FrB03.6 |
| Pages (from-to) | 4690-4695 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 5 |
| State | Published - 2004 |
| Event | 2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas Duration: Dec 14 2004 → Dec 17 2004 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization