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Optimal Regulation and Passivity Results for Axisymmetric Rigid Bodies Using Two Controls
| Content Provider | Semantic Scholar |
|---|---|
| Author | Tsiotras, Panagiotis Dwyer Sena |
| Copyright Year | 2004 |
| Abstract | We present a partial solution to the problem of optimal feedback reorientation of the symmetry axis of an axially symmetric rigid body The performance index is quadratic in the state and the control variable and the optimal reorientation maneuver requires the use of only two control torques Because of the passivity characteristics and the cascade structure of the system we rst state two optimal regulation problems for the dynamics and the kinematics subsystems separately In this case one is able to nd explicit solutions to the associated Hamilton Jacobi equations For the complete system we present solutions for two partial cases The rst case is when there is no penalty on the control input In this case one can asymptotically recover the cost for the kinematics by making the dynamics su ciently fast The second case investigates restrictions imposed by optimality considerations on the aforementioned control law in order to avoid high gain |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.ae.gatech.edu/people/tsiotras/Papers/jgcd96a.ps.gz |
| Alternate Webpage(s) | http://www.ae.gatech.edu/people/tsiotras/Papers/jgcd96a.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Apache Axis Axis vertebra Cascade Device Component Human body Jacobi method Muscle Rigidity Optimal control |
| Content Type | Text |
| Resource Type | Article |
