IEEE.org| IEEE Xplore Digital Library| IEEE Standards| IEEE Spectrum| More Sites

Cart (Loading....) | Create Account | 

Close category search window
Author Searchbeta |  Advanced Search  |  Preferences |  Search Tips  |  More Search Options  
 
Browse Conference Publications > American Control Conference, ... Help

Global asymptotic stabilization of a spinning top with torque actuators using stereographic projection

Full Text Sign-In or Purchase

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing! close button
puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Wan, C.J. ; Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA ; Tsiotras, P. ; Coppola, V.T. ; Bernstein, D.S.

The dynamical equations for a spinning top are derived in which the orientation is specified by a complex variable using stereographic projection of Poisson's equations. Necessary and sufficient conditions for Lyapunov stability of the uncontrolled motion of a spinning top are given using the Energy-Casimir method. Control laws that globally asymptotically stabilize the spinning top to the sleeping motion using two torque actuators are then synthesized by employing techniques from the theory of systems in cascade form and generalized using Hamilton-Jacobi-Bellmann theory with zero dynamics.

Published in:
American Control Conference, 1994  (Volume:1 )

Date of Conference: 29 June-1 July 1994

Page(s):
536 - 540 vol.1
Print ISBN:
0-7803-1783-1
INSPEC Accession Number:
4857782
Digital Object Identifier :
10.1109/ACC.1994.751795
Product Type:
Conference Publications

IEEE Account

Purchase Details

Profile Information

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.