TY - GEN
T1 - Controllability and stabilizability of planar multibody systems with angular momentum preserving control torques
AU - Reyhanoglu, Mahmut
AU - McClamroch, N. Harris
PY - 1991
Y1 - 1991
N2 - An examination is made of the controllability and stabilizability properties of planar multibody systems with angular momentum preserving control torques. Zero initial momentum is assumed in order to study control and stabilization problems of an equilibrium configuration. For more than two bodies, it is shown that the system is strongly accessible, small-time locally controllable and that smooth stabilization to an equilibrium is impossible. A means of constructing a discontinuous feedback controller which stabilizes the origin is described.
AB - An examination is made of the controllability and stabilizability properties of planar multibody systems with angular momentum preserving control torques. Zero initial momentum is assumed in order to study control and stabilization problems of an equilibrium configuration. For more than two bodies, it is shown that the system is strongly accessible, small-time locally controllable and that smooth stabilization to an equilibrium is impossible. A means of constructing a discontinuous feedback controller which stabilizes the origin is described.
UR - https://www.scopus.com/pages/publications/0026369526
U2 - 10.23919/acc.1991.4791547
DO - 10.23919/acc.1991.4791547
M3 - Conference contribution
AN - SCOPUS:0026369526
SN - 0879425652
SN - 9780879425654
T3 - Proceedings of the American Control Conference
SP - 1102
EP - 1107
BT - Proceedings of the American Control Conference
PB - Publ by American Automatic Control Council
ER -