Control of a simplified model of bispinner with a displaced center of mass

In this paper, we propose a mathematical model de-scribing the motion of 3DOF bispinner with a displaced center of mass. In our model, bispinner is fixed on a special type of cardan. The bounded control laws that guarantees the rotation of 3DOF bispinner with a design angular velocity and small fluctuations in height and pitch angle are developed. Comparative analysis of adaptive discontinuous and smooth bounded control laws is done. The simulation results demonstrate that the proposed controllers are robust with respect to the shifting the center of mass of 3DOF bispinner.