Murray: htdb2wiki: creating page for 1994i_bms95-nolcos.html

2016-05-15T06:20:45Z

htdb2wiki: creating page for 1994i_bms95-nolcos.html

← Older revision		Revision as of 06:20, 15 May 2016
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	{{HTDB paper		{{HTDB paper
	\| authors = Francesco Bullo, Richard M. Murray ~~and~~ Augusto Sarti		\| authors = Francesco Bullo, Richard M. Murray, Augusto Sarti
	\| title = Control on the Sphere and Reduced Attitude Stabilization		\| title = Control on the Sphere and Reduced Attitude Stabilization
	\| source = ~~CDS Technical Report 95-005~~		\| source = 1995 IFAC Symposium on Nonlinear Control Systems Design
	\| year = ~~1995~~		\| year = 1994
	\| type = ~~CDS Technical Report~~		\| type = Converence paper
	\| funding =		\| funding =
	\| url = ~~ftp~~://~~ftp~~.cds.caltech.edu/~~pub~~/~~cds/techreports/postscript~~/~~cds95~~-~~005~~.pdf		\| url = http://www.cds.caltech.edu/~murray/preprints/bms95-nolcos.pdf
	\| abstract =		\| abstract =
	This paper focuses on a new geometric approach to (fully actuated)		This paper focuses on a new geometric approach to fully actuated control
	~~control~~ systems on the ~~sphere~~. Our control laws exploit the basic and		systems on the Riemannian manifold S^2. Our control laws exploit the basic
	intuitive notions of geodesic direction and of distance between		and intuitive notions of geodesic direction and of distance between points,
	points, and generalize the classical proportional plus derivative		and generalize the classical proportional plus derivative feedback (PD)
	feedback (PD) without the need of arbitrary local coordinate charts.		without the need of arbitrary local coordinate charts. Even for the
	~~The~~ stability analysis ~~relies on an~~ appropriate Lyapunov function,		stability analysis, the appropriate Lyapunov function relies upon the notion
	~~where~~ the notion of distance and its properties ~~are exploited~~. This		of distance and its properties. This methodology then applies to spin-axis
	methodology then applies to spin-axis stabilization of a spacecraft		stabilization of a spacecraft actuated by only two control torques:
	actuated by only two control torques: discarding the rotation about		discarding the rotation about the unactuated axis, a reduced system is
	the unactuated axis, a reduced system is considered, whose state is in		considered, whose state is in fact defined on the sphere. For this reduced
	fact defined on the sphere. For this reduced stabilization problem		attitude stabilization problem our approach allows us not only to deal
	our approach allows us not only to deal optimally with the inevitable		optimally with the inevitable singularity, but also to achieve simplicity,
	singularity, but also to achieve simplicity, versatility and		versatility and (coordinate independent) adaptive capabilities.
	(coordinate independent) adaptive capabilities.
	\| flags = NoRequest		\| flags = NoRequest
	\| tag = ~~bm95a~~-~~cds~~		\| tag = bms95-nolcos
	\| id = ~~1995q~~		\| id = 1994i
	}}		}}

Murray: htdb2wiki: creating page for 1995q_bm95a-cds.html

2016-05-15T06:20:26Z

htdb2wiki: creating page for 1995q_bm95a-cds.html

New page

{{HTDB paper
| authors = Francesco Bullo, Richard M. Murray and Augusto Sarti
| title = Control on the Sphere and Reduced Attitude Stabilization
| source = CDS Technical Report 95-005
| year = 1995
| type = CDS Technical Report
| funding =
| url = ftp://ftp.cds.caltech.edu/pub/cds/techreports/postscript/cds95-005.pdf
| abstract =
This paper focuses on a new geometric approach to (fully actuated)
control systems on the sphere. Our control laws exploit the basic and
intuitive notions of geodesic direction and of distance between
points, and generalize the classical proportional plus derivative
feedback (PD) without the need of arbitrary local coordinate charts.
The stability analysis relies on an appropriate Lyapunov function,
where the notion of distance and its properties are exploited. This
methodology then applies to spin-axis stabilization of a spacecraft
actuated by only two control torques: discarding the rotation about
the unactuated axis, a reduced system is considered, whose state is in
fact defined on the sphere. For this reduced stabilization problem
our approach allows us not only to deal optimally with the inevitable
singularity, but also to achieve simplicity, versatility and
(coordinate independent) adaptive capabilities.
| flags = NoRequest
| tag = bm95a-cds
| id = 1995q
}}

Control on the Sphere and Reduced Attitude Stabilization - Revision history

Murray: htdb2wiki: creating page for 1994i_bms95-nolcos.html

Murray: htdb2wiki: creating page for 1995q_bm95a-cds.html