Related papers: Inertial control of a spinning flat disk
This paper considers the motion control of a particle and a spinning disc on rotating earth. The equations of motion are derived using Lagrangian mechanics. Trajectory planning is studied as an optimization problem using the method referred…
The state of a particle in space and time is characterized by its mass and spin, which therefore determine the inertial properties of the particle. The coupling of intrinsic spin with rotation is examined and the corresponding inertial…
In this work feedback control laws are designed for achieving three-axis attitude stabilization of inertial pointing spacecraft using only magnetic torquers. The designs are based on an almost periodic model of geomagnetic field along the…
In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
We calculate the rotation of the inertial frames within an almost flat cylindrical region surrounded by a pulse of non-axially-symmetric gravitational waves that rotate about the axis of our cylindrical polar coordinates. Our spacetime has…
The motion of a rigid, spinning disk on a flat surface ends with a dissipation-induced finite-time singularity. The problem of finding the dominant energy absorption mechanism during the last phase of the motion generated a lively debate…
In this paper, we investigate the controllability of the point vortex system by means of a single vortex. The point vortex system is a well-known simplied model for the incompressible Euler equation, where the vorticity is concentrated in a…
This paper addresses the problem of deformation control of an Euler-Bernoulli beam with in-domain actuation. The proposed control scheme consists in first relating the system model described by an inhomogeneous partial differential equation…
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the…
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we…
In this article we consider the $\alpha$--Euler equations in the exterior of a small fixed disk of radius $\epsilon$. We assume that the initial potential vorticity is compactly supported and independent of $\epsilon$, and that the…
Bodies with the nonspherical tensor of inertia exhibit a variety of rotational motion patterns, including chaotic motion, stable periodic (quasi-periodic) rotation, unstable rotation around the direction close to the body's second principal…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
We study the controllability of the differential Lyapunov equation under isospectral rotation of a linear gradient field. Specifically, control is effected by a symmetric time-varying gain-matrix constrained to have fixed eigenvalues; that…
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. Application of the variational Pontryagin's minimum principle yields the ball's…
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…
Inertia of a particle is due to its mass as well as intrinsic spin. The latter is revealed via the coupling of intrinsic spin with rotation. The spin-rotation coupling and the concomitant spin-gravity coupling are discussed in connection…
The objective of this work is to demonstrate the utility of Lyapunov functions in control synthesis for the purpose of maintaining and stabilizing a spacecraft in a circular orbit around the L4 point in the circular restricted three body…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…