Asymptotic Stability of Multibody Attitude Systems
نویسندگان
چکیده
A rigid base body, supported by a fixed pivot point, is free to rotate in three dimensions. Multiple elastic subsystems are rigidly mounted on the rigid body; the elastic degrees of freedom are constrained relative to the rigid base body. A mathematical model is developed for this multibody attitude system that exposes the dynamic coupling between the rotational degrees of freedom of the base body and the deformation or shape degrees of freedom of the elastic subsystems. The models are used to assess passive dissipation assumptions that guarantee asymptotic stability of an equilibrium solution. These results are motivated and inspired by a 1980 publication of R. K. Miller and A. N. Michel [6]. This research has been supported in part by NSF under grant ECS-0140053. 57 58 Shen, Sanyal, and McClamroch 3.
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تاریخ انتشار 2003