Abstract
In this paper a solution to the attitude control problem of a two-link planar system, whose angular momentum about the centre of gravity is constant, is presented. Reference trajectories for simulating the motion of the constrained dynamic system are found by specifying the internal variables of the system and solving for the corresponding external variables. It is shown that the angular momentum constraint has quasi-holonomic character because it can be employed to reduce the dimensionality of the system by eliminating half a degree of freedom. A controller is designed for the reduced dynamic system and tested by digital computer simulation. It is shown that the same controller can be used for the unreduced system if the angular momentum constraint is a linear function of the states of the system. Such an approach, however, cannot be employed if the constraint is a non-linear function of the system state. In this case a controller must be designed which stabilizes both the system and the constraint equat...
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