Global asymptotic stabilization of the attitude and the angular rates of an underactuated non-symmetric rigid body

✍ Scribed by Daniele Casagrande; Alessandro Astolfi; Thomas Parisini

• Publisher: Elsevier Science
• Year: 2008
• Tongue: English
• Weight: 738 KB
• Volume: 44
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/j.automatica.2007.11.022

✦ Synopsis

The paper deals with the global stabilization of both the attitude and the angular velocities of an underactuated rigid body. First a stability theorem is proven for a class of systems; subsequently, the equations describing the physics of the rigid body are presented, showing that the rigid body belongs to the considered class of systems, and a sufficient condition for the application of the theorem to the stability of the rigid body equilibrium is pointed out. Finally, some simulation results are reported showing the effectiveness of the proposed methodology.