Controllability of Lie-Poisson Reduced Dynamics

Abstract

In this paper we discuss controllability of Lie-Poisson reduced dynamics of a class of mechanical systems. We prove conditions (boundedness of coadjoint orbits and existence of a radially unbounded Lyapunov function) under which the drift vector field (of the reduced system) is weakly positively Poisson stable (WPPS). The WPPS nature of the drift vector field along with the Lie algebra rank condition is used to show controllability of the reduced system. We discuss the dynamics, Lie-Poisson reduction, and controllability of hovercraft, spacecraft and underwater vehicles, all treated as rigid bodies.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1997
Accession Number
ADA451364

Entities

People

  • P.S.Krishnaprasad
  • V. Manikonda

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Biomedical
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Angular Momentum
  • Autonomous Underwater Vehicles
  • Buoyancy
  • Center Of Gravity
  • Collision Avoidance
  • Control Systems
  • Dynamics
  • Electrical Engineering
  • Engineering
  • Equations
  • Lie Groups
  • Molecular Dynamics
  • Momentum
  • Orbits
  • Trajectories
  • Underwater Vehicles
  • Vehicles

Fields of Study

  • Mathematics

Readers

  • Control Systems Engineering.
  • Graph Algorithms and Convex Optimization.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers