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Nonlinear Dynamics

, Volume 93, Issue 2, pp 285–293 | Cite as

Attitude stabilization of a rigid body under the action of a vanishing control torque

  • A. Yu. Aleksandrov
  • A. A. Tikhonov
Original Paper
  • 119 Downloads

Abstract

The problem of attitude stabilization of a rigid body with the use of restoring and dissipative torques is studied. The possibility of implementing a control system in which the restoring torque tends to zero as time increases, and the only remaining control torque is a linear time-invariant dissipative one, is investigated. Both cases of linear and essentially nonlinear restoring torques are considered. With the aid of the Lyapunov direct method and the comparison method, conditions are derived under which we can guarantee stability or asymptotic stability of an equilibrium position of the body despite the vanishing of the restoring torque. A numerical simulation is provided to demonstrate the effectiveness of analytical results.

Keywords

Rigid body Attitude stabilization Time-varying control Asymptotic stability Lyapunov function Decomposition 

Notes

Acknowledgements

The research was supported by the Russian Foundation for Basic Research (Grant Nos. 16-01-00587-a and 17-01-00672-a).

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Copyright information

© Springer Science+Business Media B.V., part of Springer Nature 2018

Authors and Affiliations

  1. 1.Saint Petersburg State UniversitySt. PetersburgRussia
  2. 2.Saint Petersburg Mining UniversitySt. PetersburgRussia

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