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Published April 1990 | public
Journal Article

Stabilization of rigid body dynamics by the Energy-Casimir method

Abstract

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.

Additional Information

© 1990 Elsevier. Received October 1989. Revised February 1990. Available online 3 March 2003. Research supported in part by NSF Grant DMS-87-01S16, AFOSR Grant AFOSR-ISSA-87-0077, and MSI at Cornell University. Reserach partially supported by AFOSR Grant AFOSR- 89-0226A. and MSI and Cornell University

Additional details

Created:
August 22, 2023
Modified:
October 20, 2023