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Global Asymptotic Stabilization of a Spinning Top With Torque Actuators Using Stereographic Projection

dc.contributor.authorWan, Chih-Jianen_US
dc.contributor.authorTsiotras, P.en_US
dc.contributor.authorCoppola, Vincent T.en_US
dc.contributor.authorBernstein, Dennis S.en_US
dc.date.accessioned2006-09-08T20:32:43Z
dc.date.available2006-09-08T20:32:43Z
dc.date.issued1997-07en_US
dc.identifier.citationWan, C. J.; Tsiotras, P.; Coppola, V. T.; Bernstein, D. S.; (1997). "Global Asymptotic Stabilization of a Spinning Top With Torque Actuators Using Stereographic Projection." Dynamics and Control 7(3): 215-233. <http://hdl.handle.net/2027.42/42626>en_US
dc.identifier.issn0925-4668en_US
dc.identifier.issn1573-8450en_US
dc.identifier.urihttps://hdl.handle.net/2027.42/42626
dc.description.abstractThe dynamical equations for a spinning top are derived in which theorientation is specified by a complex variable using stereographic projectionof Poisson's equations. Necessary and sufficient conditions for Lyapunovstability of the uncontrolled motion of the spinning top are derived usingthe Energy-Casimir method. Control laws that globally asymptoticallystabilize the spinning top to the sleeping motion using two torque actuatorsare synthesized by employing techniques from the theory of systems in cascadeform and generalized using Hamilton-Jacobi-Bellman theory with zero dynamics.In short, this paper provides a nice example where the interplay betweendynamics and control leads to elegant and powerful results.en_US
dc.format.extent248889 bytes
dc.format.extent3115 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypetext/plain
dc.language.isoen_US
dc.publisherKluwer Academic Publishers; Springer Science+Business Mediaen_US
dc.subject.otherEngineeringen_US
dc.subject.otherEngineering Designen_US
dc.subject.otherSpinning Topen_US
dc.subject.otherStabilizationen_US
dc.subject.otherStereographic Projectionen_US
dc.subject.otherLyapunov Functionen_US
dc.subject.otherHamilton-Jacobi Theoryen_US
dc.titleGlobal Asymptotic Stabilization of a Spinning Top With Torque Actuators Using Stereographic Projectionen_US
dc.typeArticleen_US
dc.subject.hlbsecondlevelMechanical Engineeringen_US
dc.subject.hlbsecondlevelIndustrial and Operations Engineeringen_US
dc.subject.hlbtoplevelEngineeringen_US
dc.description.peerreviewedPeer Revieweden_US
dc.contributor.affiliationumDepartment of Aerospace Engineering, The University of Michigan, Ann Arbor, MI 48109-2140, USAen_US
dc.contributor.affiliationumDepartment of Aerospace Engineering, The University of Michigan, Ann Arbor, MI 48109-2140, USAen_US
dc.contributor.affiliationumDepartment of Aerospace Engineering, The University of Michigan, Ann Arbor, MI 48109-2140, USAen_US
dc.contributor.affiliationotherSchool of Aeronautics and Astronautics, Purdue University, West Lafayette, IN, 47907-1282, USA; Dept. of Mechanical, Aerospace and Nuclear Engineering, University of Virginia, Charlottesville, VA, 22903-2242, USAen_US
dc.contributor.affiliationumcampusAnn Arboren_US
dc.description.bitstreamurlhttp://deepblue.lib.umich.edu/bitstream/2027.42/42626/1/10638_2004_Article_132425.pdfen_US
dc.identifier.doihttp://dx.doi.org/10.1023/A:1008238115854en_US
dc.identifier.sourceDynamics and Controlen_US
dc.owningcollnameInterdisciplinary and Peer-Reviewed


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