@inproceedings{037885e02ccd4e8fb985b85f967c9979,
title = "Motion control for underactuated mechanical systems on Lie groups",
abstract = "Control design for underactuated mechanical systems is an active area of research. In this paper we focus on mechanical control systems defined on Lie groups with the Lagrangian equal to kinetic energy. Examples include satellites and underwater vehicles. Under a controllability assumption, we propose two algorithms to compute small amplitude, periodic inputs that achieve arbitrary reconfigurations.",
keywords = "Mechanical systems, Nonlinear controllability, Underactuated systems",
author = "Francesco Bullo and Leonard, {Naomi Ehrich}",
year = "1997",
month = apr,
day = "8",
doi = "10.23919/ecc.1997.7082370",
language = "English (US)",
series = "ECC 1997 - European Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1830--1835",
booktitle = "ECC 1997 - European Control Conference",
address = "United States",
note = "4th European Control Conference, ECC 1997 ; Conference date: 01-07-1997 Through 04-07-1997",
}