Paper Information

Journal:   IRANIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING (IJECE)   WINTER-SPRING 2004 , Volume 3 , Number 1; Page(s) 72 To 78.
 
Paper: 

REGULATING CONTROL OF THE ANGULAR VELOCITY OF A RIGID BODY WITH TWO TORQUE ACTUATORS

 
 
Author(s):  UR REHMAN F.*
 
* FACULTY OF ELECTRONIC ENGINEERING, GIK INSTITUTE OF ENGINEERING SCIENCES AND TECHNOLOGY, TOPI, PAKISTAN
 
Abstract: 

This paper presents two different kinds of regulating control strategies for the angular velocity of a rigid body model with two torque actuators. The first strategy presents piece-wise constant, states dependent feedback control laws. The method is based on the construction of a cost function V (not a Lyapunov function), which is sum of two semi-positive definite functions 1 V and 2 V. The semipositive definite function 1 V is dependent on the first m state variables which can be steered along the given vector fields and 2 V is dependent on the remaining m n - state variables which can be steered along the missing Lie brackets. The values of the functions 1 V and 2 V allow in determining a desired direction of system motion and permit to construct a sequence of controls such that the sum of these functions decreases in an average sense. The second strategy presents a time-varying feedback law based on the model reference approach, where the trajectory of the extended system is chosen as the model reference trajectory. The controllers are designed in such a way that after each time period T, the trajectory of the rigid body model intersects the trajectory of the model reference which can be made asymptotically stable. The proposed feedback law is as a composition of a standard stabilizing feedback control for a Lie bracket extension of the original system and a periodic continuation of a specific solution to an open loop control problem stated for an abstract equation on a Lie group.

 
Keyword(s): FEEDBACK REGULATING CONTROL, SYSTEMS WITH DRIFT, LIE BRACKET EXTENSION, LIE GROUPS, LOGARITHMIC COORDINATES
 
References: 
 
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