Global stabilization of a rotational motion of a rigid body using rotors system

Abstract

In this paper, the problem of global asymptotic stabilization of a rotational motion of a rigid body around an arbitrary axis, with the help of internal rotors, is investigated using the Lyapunov function technique. The control moments leading to this rotational motion are determined. The conditions of global asymptotic stabilization of this motion are adopted to obtain the control law as non-linear functions of the phase coordinates of the system and the angle of rotation. Many special cases are introduced from the obtained result. Moreover, some of the results are compared with those obtained in the literature by other methods.