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

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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.

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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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Authors and Affiliations

  1. Saint Petersburg State University, 7-9 Universitetskaya nab., St. Petersburg, Russia, 199034

    A. Yu. Aleksandrov & A. A. Tikhonov

  2. Saint Petersburg Mining University, 2, 21st Line, St. Petersburg, Russia, 199106

    A. A. Tikhonov

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  1. A. Yu. Aleksandrov
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  2. A. A. Tikhonov
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Correspondence to A. A. Tikhonov.

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Aleksandrov, A.Y., Tikhonov, A.A. Attitude stabilization of a rigid body under the action of a vanishing control torque. Nonlinear Dyn 93, 285–293 (2018). https://doi.org/10.1007/s11071-018-4191-4

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