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Optimal Control of Rigid Body Angular Velocity with Quadratic Cost |
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| Authors: | Tsiotras P Corless M Rotea M |
| Institution: | (1) Department of Mechanical, Aerospace, and Nuclear Engineering, University of Virginia, Charlottesville, Virginia;(2) School of Aeronautics and Astronautics, Purdue University, West Lafayette, Indiana;(3) School of Aeronautics and Astronautics, Purdue University, West Lafayette, Indiana |
| Abstract: | In this paper, we consider the problem of obtaining optimal controllers which minimize a quadratic cost function for the rotational motion of a rigid body. We are not concerned with the attitude of the body and consider only the evolution of the angular velocity as described by the Euler equations. We obtain conditions which guarantee the existence of linear stabilizing optimal and suboptimal controllers. These controllers have a very simple structure. |
| Keywords: | Rigid bodies Hamilton– Jacobi equation Riccati equation optimal control |
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