View source for Control on the Sphere and Reduced Attitude Stabilization

{{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
}}