الفهرس 
Equations of Motion of DynamicalOnly 14 pages are availabe for public view
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Abstract
The thesis is devoted to study the problem of controlling the motion of a rigid body with the help of servoconstraints. Two models for servoconstrained systems are considered namely, a rigid body carrying three rotors and a rigid body carrying three point masses. The main goal of this thesis is to give more detailed specification for the realization of the servoconstraints for the two models. As an introduction, we first givereview of the constraints and their classification. The properties and the main differences between some important classes of constraints are discussed, especially servoconstraints. The equation of motion of a rigid body carrying N rigid bodies is also derived. . Further, this equation is modified to describe the motion of the considered two models. The global stabilization of the rotational motion of a rigid body, for the two considered models are discussed. For the first model, the asymptotic stability of the rotational motion and equilibrium position of the rigid body about one of its principal axes are studied. For the second model, the global stabilization of the rotational motion of a rigid body aroundan axis fixed in the body is studied. In all cases, servoconstraints are used for stabilizing asymptotically the desired rotational motion.The Lyapunov direct method is used to prove the asymptotic stabilization of the desired motions