This paper proposes a method for the stabilization of the angular velocity of a rigid body with two torques based on the zero dynamics algorithm. The method is useful to recover the case when one of the nominal three thruster jets had failed or to save the consumption of propulsive fuel. Parametric uncertainty and time delay are considered to be obstacles in implementation of the present method. This paper proposes an improvement for the stabilization of the system with parametric uncertainty and shows sufficient condition for the stabilization of the system with time delay.
Robust stabilization of the angular velocity of a rigid body based on zero dynamics
