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Systems with Drift: Rotating Rigid Body
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Classroom Contents
Stabilization of Nonlinear Systems by Oscillating Controls with Application
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- 1 Intro
- 2 Outline
- 3 Systems with Uncontrollable Linearization
- 4 Motivation: Obstacles for asymptotic stability
- 5 Motivation: Controllability Stabilizability!
- 6 Problem formulation
- 7 Why trigonometric polynomials?
- 8 Bracket Generating Systems
- 9 Lie Bracket Extension
- 10 Control Design Scheme
- 11 Example 1: Brockett's Example
- 12 Unicycle
- 13 Systems with Drift: Rotating Rigid Body
- 14 Hydrodynamical Models
- 15 Lie Brackets and Energy Cascades
- 16 Stabilization of the Galerkin System
