Global stability of the rotational motion of a rigid body containing moving masses

In this work we have studied the problem of global asymptotic stability of the rotational motion of a rigid body with the help of moving point masses, using the Lyapunov function. The control forces leading to the rotational motion are determined. The conditions for global asymptotic stability of this motion are used to obtain the control law as non-linear functions of the phase coordinates of the system. Some of special cases of the studied problem are investigated