Optimal control of the rotational motion of a rigid body using moving masses

In this paper, the problem of optimal stabilization of a rotational motion of a rigid body around an axis fixed in the body with the help of internal moving masses is discussed using Lyapunov function technique. The control forces leading to the rotational motion are derived. The optimal control forces ensuring the asymptotic stability of this motion are derived. Some of special cases of the investigated problem are considered. Moreover, some of the results are compared with those obtained in literature by other methods. (C) 2003 Elsevier Inc. All rights reserved.