The rigid body equations describe the motion of a system
of point masses where the distance between the points is
constant. Although this condition is an idealization, for
the majority of solid bodies the appearing changes in
shape and size can be neglected, which make the rigid body
equations a model for a large class of systems. Control
problems involving the rigid body equations appear in many
applications, notably in aerospace and robotics. The
corresponding control problems are challenging since the
rigid body equations are highly nonlinear.
More specifically, because of geometrical properties of
the configuration manifold, smooth control laws for these
systems have multiple equilibria. Therefore, classical
analysis and control design methods are usually not
applicable to obtain global results for rigid body control
problems.
In this talk, we will discuss a design approach to deal
with these highly nonlinear equations and we present
global results for output regulation problems for a class
of systems that includes the rigid body equations. One
important consequence of the result is a novelnonlinear
separation principle for rigid body equations.
Biographical Information
Gerd S. Schmidt studied Engineering
Cybernetics at University of Stuttgart, Germany. He
received his Diploma degree from the University of
Stuttgart in 2007. In October 2007, he joined the
Institute for Systems Theory and Automatic Control at the
University of Stuttgart, Germany, where he is currently a
research and teaching assistant. His research interests
focus on nonlinear dynamical systems with emphasis on
synchronization and output regulation problems.
Weitere
Informationen:
Prof. Dr.-Ing. Frank Allgöwer · Institut
für Systemtheorie und Regelungstechnik · 0711
685 67738 · allgower@ist.uni-stuttgart.de
Universität Stuttgart