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A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

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Title A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
 
Creator BHAT, SP
BERNSTEIN, DENNIS S
 
Subject asymptotic stability
attitude control
topology
state-space methods
 
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 obtained using local coordinates lead to unwinding instead of global asymptotic stability.
 
Publisher Elsevier
 
Date 2009-02-21T11:34:15Z
2011-11-25T17:25:59Z
2011-12-26T13:06:25Z
2011-12-27T05:54:15Z
2009-02-21T11:34:15Z
2011-11-25T17:25:59Z
2011-12-26T13:06:25Z
2011-12-27T05:54:15Z
2000
 
Type Article
 
Identifier Systems & Control Letters 39(1), 63-70
0167-6911
http://dx.doi.org/10.1016/S0167-6911(99)00090-0
http://hdl.handle.net/10054/743
http://dspace.library.iitb.ac.in/xmlui/handle/10054/743
 
Language en