Control of the rotational motion of the rigid body with the help of internal rotors using Rodrigues-Caley parameters

The purpose of this paper is to study the control of the rotational motion of the rigid body with the help of three rotors attached to the principal axes of the body. In such study the asymptotic stability of this motion is proved by using the Lyapunov technique. As a particular case of our problem, the equilibrium position of the rigid body, which occurs when the principal axes of inertia of the body coincide with the inertial axes, is proved to be asymptotically stable. The control moments that impose the stabilization of the rotational motion and equilibrium position are obtained.