A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
DSpace at IIT Bombay
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Title |
A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
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Creator |
BHAT, SP
BERNSTEIN, DENNIS S |
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Subject |
asymptotic stability
attitude control topology state-space methods |
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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 obtained using local coordinates lead to unwinding instead of global asymptotic stability.
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Publisher |
Elsevier
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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 |
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Type |
Article
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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 |
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Language |
en
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