publication . Preprint . 2017

Almost-global tracking for a rigid body with internal rotors

Nayak, Aradhana; Banavar, Ravi N.;
Open Access English
  • Published: 22 Mar 2017
Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple mechanical system (SMS) on the $3-$dimensional group of special orthogonal matrices. However, the problem of designing feedback control laws for tracking using internal actuation mechanisms, like rotors or control moment gyros, has received lesser attention from a geometric point of view. An internally actuated rigid body is not a simple mechanical system, and the phase-space here evolves on the level set of a momentum map. In...
free text keywords: Computer Science - Systems and Control
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