Journal article
Control Algorithms Along Relative Equilibria of Underactuated Lagrangian Systems on Lie Groups
We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation analysis and the design of inversion primitives and composition methods.
We illustrate the algorithms on an underactuated planar rigid body and on a satellite with two thrusters.
| Language: | English |
|---|---|
| Publisher: | IEEE |
| Year: | 2008 |
| Pages: | 2651-2658 |
| ISSN: | 15582523 , 00189286 and 23343303 |
| Types: | Journal article |
| DOI: | 10.1109/TAC.2008.2007143 |
Acceleration Algorithm design and analysis Control systems Force control Iterative algorithms Lagrangian functions Lie algebras Lie groups Motion control Satellites Velocity control actuators control system synthesis force control invariant systems iterative small-amplitude control nonlinear control systems perturbation analysis underactuated Lagrangian systems underactuated mechanical systems underactuated planar rigid body
