Controlled Lagrangians and the stabilization of Euler–Poincaré mechanical systems
Abstract
In this paper we develop a constructive approach to the determination of stabilizing control laws for a class of Lagrangian mechanical systems with symmetry — systems whose underlying dynamics are governed by the Euler–Poincaré equations. This work extends our previous work on the stabilization of mechanical control systems using the method of controlled Lagrangians. The guiding principle behind our methodology is to develop a class of stabilizing feedback control laws which yield closed‐loop dynamics that remain in Lagrangian form. Using the methodology for Euler–Poincaré systems, we analyse stabilization of a satellite and an underwater vehicle controlled with momentum wheels. Copyright © 2001 John Wiley & Sons, Ltd.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Mar 01, 2001
- Source ID
- 10.1002/rnc.572
Entities
People
- Anthony M. Bloch
- Jerrold E. Marsden
- Naomi Ehrich Leonard
Organizations
- Air Force Office of Scientific Research
- California Institute of Technology
- National Science Foundation
- Office of Naval Research