Control of rotary motion of a rigid body with the help of two units of coupled gyrodyns (Q2720908)

The problem of control of a gyrostat angular velocity and orientation with the help of two coupled gyrodyn units is considered. The investigated mechanical system is uncontrollable, as it has a first integral (integral of moment). The problems of attitude control and stabilization of a carrier body are basic problems of control for the design of such models. Therefore a problem of control with respect to part of the variables should be studied in this case. The equations of motion are linearized in a neighborhood of zero angular velocities and controls. Their controllability with respect to part of the variables is shown. An iterative algorithm for a solution to a two-point problem in this context is based on successive refinement of the control for a linearized system. The computational results of the application of this algorithm to the mechanical system are described.