Exponential control of equilibrium positions of a rigid body using quaternions

摘要

This paper is devoted to study the problem of the exponential asymptotic stabilization of the equilibrium positions of a rigid body using a newly developed technique. In this technique, the servo-control moments which are applied to the internal rotors are obtained from the conditions that ensure the exponential asymptotic stability of these positions. Furthermore, many special cases of the investigated problem are studied. Finally, analysis and numerical examples are presented.