ROBUST STABILIZATION OF THE ANGULAR VELOCITY OF A RIGID-BODY

The problem of robust control for the angular velocity of a rigid body subject to external disturbances is addressed. It is shown that if th e disturbances are matched there exists a control law attenuating the effect of the disturbances, whereas in the case of non-matched disturb ances no such a feedback law generically exists. Hence, a new concept of disturbance attenuation is introduced and it is proved that the afo rementioned problem is solvable in this weaker sense. Explicit express ions of the control laws solving the proposed robust stabilization pro blems are given. (C) 1998 Elsevier Science B.V. All rights reserved.