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A topological obstruction to global asymptotic stabilization of rotational motion and the unwinding phenomenon
DSpace at IIT Bombay
View Archive Info| Field | Value | |
| Title |
A topological obstruction to global asymptotic stabilization of rotational motion and the unwinding phenomenon
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| Creator |
BHAT, SP
BERNSTEIN, DS |
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| Description |
We show that a continuous dynamical system on a state space that has the structure of a vector bundle on a compact manifold possesses no globally asymptotically stable equilibrium. This result is directly applicable to mechanical systems having rotational degrees of freedom. In particular, the result applies to the attitude motion of a rigid body. In light of this result, we explain how attitude stabilizing controllers appearing in the literature lead to unwinding instead of global asymptotic stability.
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| Publisher |
IEEE
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| Date |
2011-10-25T10:57:58Z
2011-12-15T09:11:51Z 2011-10-25T10:57:58Z 2011-12-15T09:11:51Z 1998 |
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| Type |
Proceedings Paper
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| Identifier |
PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6,2785-2789
0-7803-4530-4 0743-1619 http://dspace.library.iitb.ac.in/xmlui/handle/10054/15698 http://hdl.handle.net/100/2334 |
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| Source |
American Control Conference,PHILADELPHIA, PA,JUN 24-26, 1998
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| Language |
English
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