Paper Info
Title
Spin-Axis Stabilization Of A Rigid Body About An Arbitrary Direction Using Two Reaction Wheels
Abstract
The purpose of attitude stabilization is to stabilize a body about an equilibrium point, usually requiring at least three independent actuations. In practice, however, a control law for an underactuated system with two actuators becomes crucial when one of the three actuators fails during operation, or when the control objective is to stabilize the spin axis of the body about an arbitrary direction, possibly with a nonzero spinning velocity. In this work, we develop a feedback control law that globally and asymptotically achieves spin-axis stabilization of a rigid body about an arbitrary axis using only two reaction wheels. For this, a modified version of (z, w)-parameterization is presented for the purpose of describing attitude kinematics of a rigid body. We then introduce dynamics of the body with two reaction wheels and use a feedback linearization technique to develop a control law with the goal of achieving spin-axis stabilization of the body. We show that the developed control law is globally and asymptotically stable by using Lyapunov's direct method in conjunction with LaSalle's invariance principle. This controller is implemented in simulation, and results are presented that show its stabilizing behavior. While the control law presented here is suitable for general applications, we primarily focus on its application to the thrust direction regulation of tensegrity hoppers.
Year
Venue
Field
2016
2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC)
Lyapunov function,Control theory,Kinematics,Reaction wheel,Control theory,Computer science,Feedback linearization,Equilibrium point,Rigid body,Underactuation
DocType
ISSN
Citations 
Conference
0743-1546
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Kyunam Kim1121.68
Alice M. Agogino228881.04