\r n this article, we provide a summary of recent developments I in control of nonholonomic systems. The published literature has grown enormously during the last six years, and it is now possible toâ€¦ (More)

The attitude stabilization problem of a rigid spacecraft using only two control torques is considered. The control torques are assumed to be generated by either gas jet actuators or momentum wheelâ€¦ (More)

2004 43rd IEEE Conference on Decision and Controlâ€¦

2004

New pendulum models are introduced and studied. The pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by aâ€¦ (More)

This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving theseâ€¦ (More)

Attitude control systems naturally evolve on nonlinear configurations, such as S and SO(3). The nontrivial topological properties of these configurations result in interesting and complicatedâ€¦ (More)

A theoretical framework for the stabilization of control systems defined by a class of nonlinear differential-algebraic equations is established. Assumptions are stated which guarantee that theâ€¦ (More)

A rigid base body, supported by a fixed pivot point, is free to rotate in three dimensions. Multiple elastic subsystems are rigidly mounted on the rigid body; the elastic degrees of freedom areâ€¦ (More)

A Furuta pendulum is a serial connection of two thin, rigid links, where the first link is actuated by a vertical control torque while it is constrained to rotate in a horizontal plane; the secondâ€¦ (More)

The 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom; it is acted on by gravity and it is fully actuated by control forces. The 3D pendulumâ€¦ (More)

An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie groupâ€¦ (More)