STABILIZATION OF RIGID BODY DYNAMICS BY THE ENERGY CASIMIR METHOD

被引：56

作者：

BLOCH, AM

MARSDEN, JE

机构：

[1] OHIO STATE UNIV,DEPT MATH,COLUMBUS,OH 43210

[2] UNIV CALIF BERKELEY,DEPT MATH,BERKELEY,CA 94720

来源：

SYSTEMS & CONTROL LETTERS | 1990年 / 14卷 / 04期

基金：

美国国家科学基金会;

关键词：

Energy-Casimir; feedback; Hamiltonian; rigid body; Stabilization;

D O I：

10.1016/0167-6911(90)90055-Y

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We show how the Energy-Casimir method can be used to prove stabilizability of the angular momentum equations of the rigid body about its intermediate axis of inertia, by a single torque applied about the major or minor axis. We also show how this system has associated with it, a Lie-Poisson bracket which is invariant under SO(3) for small feedback, but is invariant under SO(2, 1) for feedback large enough to achieve stability. © 1990.

引用

页码：341 / 346

页数：6

共 22 条

[1] COMMENTS ON THE STABILIZABILITY OF THE ANGULAR VELOCITY OF A RIGID BODY [J].