浮遊しているターゲットへの間欠的な制御入力による運動停止法

— 2次元平面運動での解法 —

抄録

In this paper, we derive a feedback control law that stops a floating target with initial momentum and initial angular momentum. First, the system is formulated as a nonlinear discrete-time system in which the momentum and angular momentum of the target are the states, and the control input is given by the magnitude and position of an impulsive force. Next, a state feedback control law is derived based on Lyapunov's second method, and the behavior of the system is analyzed as an autonomous system under the state feedback control law to prove the global asymptotic stability of the origin. In addition, the stability conditions are presented when there is modeling error in the friction coefficient. Finally, numerical examples also demonstrate its validity.