Stabilization of a coordinated network of rotating rigid bodies

被引：14

作者：

Nair, S ^{[1
]}

Leonard, NE ^{[1
]}

机构：

[1] Princeton Univ, Princeton, NJ 08544 USA

来源：

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年

关键词：

D O I：

10.1109/CDC.2004.1429530

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：4690 / 4695

页数：6

共 13 条

[1]

[Anonymous], 1992, LECT MECH

[2] STABILIZATION OF RIGID BODY DYNAMICS BY INTERNAL AND EXTERNAL TORQUES [J].