Global asymptotic stabilization of a spinning top with torque actuators using stereographic projection (Q1363309)

The authors consider the problem of stabilizing a spinning top with fixed vertex by means of smooth feedback. The motion to be stabilized is the steady rotation around the vertical axis of symmetry. The basic equations (Poisson equations of a rigid body) are rewritten in complex form, by using a stereographic projection. Hence the stability of the free motion is analyzed by the Energy-Casimir method. Then two control inputs are incorporated in the model. They represent control torques applied along principal axes perpendicular to the symmetry axis. Using zero-dynamics with respect to an appropriate output function, the system is put in a cascade form. The stabilizing feedback is obtained as a solution of an associate optimization problem via Hamilton-Jacobi theory.