2,904 research outputs found
Combination of Lyapunov Functions and Density Functions for Stability of Rotational Motion
Lyapunov methods and density functions provide dual characterizations of the solutions of a nonlinear dynamic system. This work exploits the idea of combining both techniques, to yield stability results that are valid for almost all the solutions of the system. Based on the combination of Lyapunov and density functions, analysis methods are proposed for the derivation of almost input-to-state stability, and of almost global stability in nonlinear systems. The techniques are illustrated for an inertial attitude observer, where angular velocity readings are corrupted by non-idealities
Lyapunov instability of fluids composed of rigid diatomic molecules
We study the Lyapunov instability of a two-dimensional fluid composed of
rigid diatomic molecules, with two interaction sites each, and interacting with
a WCA site-site potential. We compute full spectra of Lyapunov exponents for
such a molecular system. These exponents characterize the rate at which
neighboring trajectories diverge or converge exponentially in phase space.
Quam. These exponents characterize the rate at which neighboring trajectories
diverge or converge exponentially in phase space. Qualitative different degrees
of freedom -- such as rotation and translation -- affect the Lyapunov spectrum
differently. We study this phenomenon by systematically varying the molecular
shape and the density. We define and evaluate ``rotation numbers'' measuring
the time averaged modulus of the angular velocities for vectors connecting
perturbed satellite trajectories with an unperturbed reference trajectory in
phase space. For reasons of comparison, various time correlation functions for
translation and rotation are computed. The relative dynamics of perturbed
trajectories is also studied in certain subspaces of the phase space associated
with center-of-mass and orientational molecular motion.Comment: RevTeX 14 pages, 7 PostScript figures. Accepted for publication in
Phys. Rev.
Nonlinear Feedback Control of Axisymmetric Aerial Vehicles
We investigate the use of simple aerodynamic models for the feedback control
of aerial vehicles with large flight envelopes. Thrust-propelled vehicles with
a body shape symmetric with respect to the thrust axis are considered. Upon a
condition on the aerodynamic characteristics of the vehicle, we show that the
equilibrium orientation can be explicitly determined as a function of the
desired flight velocity. This allows for the adaptation of previously proposed
control design approaches based on the thrust direction control paradigm.
Simulation results conducted by using measured aerodynamic characteristics of
quasi-axisymmetric bodies illustrate the soundness of the proposed approach
Nonlinear Dynamics Analysis and Control of Space Vehicles with Flexible Structures
Space vehicles that implement hardware such as antennas, solar panels, and other extended appendages necessary for their respective missions must consider the nonlinear rotational and vibrational dynamics of these flexible structures. Formulation and analysis of these flexible structures must account for the rigid-flexible coupling present in the system dynamics for stability analysis and control design. The system model is represented by a flexible appendage attached to a central rigid body, where the flexible appendage is modeled as a cantilevered Euler-Bernoulli beam. Discretization techniques, such as the assumed modes method and the finite element method, are used to model the coupled dynamics by transforming the partial differential equations of motion into a finite set of differential equations. State feedback control laws are designed to achieve stability and desired motion in the presence of rigid-flexible coupling. An optimal control law in the form of a linear quadratic regulator is presented and compared with a Lyapunov-based control law that guarantees asymptotic stability. Conventional and adaptive sliding mode control laws are also presented to account for any uncertainties in the linearized system model. Full-order and reduced-order observers are included in the control system to account for lack of velocity state measurements that are generally unavailable in real world applications
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