Gyroscopic Control and Stabilization
Abstract
In this paper, the authors consider the geometry of gyroscopic systems with symmetry, starting from an intrinsic Lagrangian viewpoint. They note that natural mechanical systems with exogenous forces can be transformed into gyroscopic systems when the forces are determined by a suitable class of feedback laws. To assess the stability of relative equilibria in the resultant feedback systems, they extend the energy-momentum block-diagonalization theorem of Simo, Lewis, Posbergh, and Marsden to gyroscopic systems with symmetry. They illustrate the main ideas using the example of two coupled rigid bodies with internal rotors. The energy-momentum method yields computationally tractable stability criteria in this and other examples.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1991
- Accession Number
- ADA454891
Entities
People
- Li-sheng Wang
- P.S.Krishnaprasad
Organizations
- University of Maryland