The problem of semi-global stabilization of the angular velocity of an underactuated rigid body in the presence of model errors is addressed and solved using a smooth, time-varying, dynamic, output feedback control law. The proposed scheme improves some of the existing results and provides guideline
Output feedback stabilization of the angular velocity of a rigid body
โ Scribed by A. Astolfi
- Publisher
- Elsevier Science
- Year
- 1999
- Tongue
- English
- Weight
- 294 KB
- Volume
- 36
- Category
- Article
- ISSN
- 0167-6911
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๐ SIMILAR VOLUMES
The problem of robust control for the angular velocity of a rigid body subject to external disturbances is addressed. It is shown that if the disturbances are matched there exists a control law attenuating the e ect of the disturbances, whereas in the case of non-matched disturbances no such a feedb
this paper, we investigate the problem of the stabilization of the angular velocity of the rigid body with one control torque applied on the minor axis. The trajectories of this system evolve on cylinders. We study the stability when restricted to these invariant manifolds and we give a feedback law