Global Controllability of Multidimensional Rigid Body by Few Torques

Details Global Controllability of Multidimensional Rigid Body by Few Torques Global Controllability of Multidimensional Rigid Body by Few Torques

2009-12-15

arxiv.org/abs/0912.2900v1

Mathematics

Optimization and Control

presented at Special Session 'Geometric Control for Quantum and Clasical Models' of 4th International Scientific Conference on

Scientific paper

We study global controllability of 'rotating' multidimensional rigid body (MRB) controlled by application of few torques. Study by methods of geometric control requires analysis of algebraic structure introduced by the quadratic term of Euler-Frahm equation. We discuss problems, which arise in the course of this analysis, and establish several global controllability criteria for damped and non damped cases.

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