Motion control for underactuated mechanical systems on Lie groups

Francesco Bullo, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationECC 1997 - European Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783952426906
StatePublished - Apr 8 1997
Externally publishedYes
Event4th European Control Conference, ECC 1997 - Brussels, Belgium
Duration: Jul 1 1997Jul 4 1997

Publication series

NameECC 1997 - European Control Conference


Other4th European Control Conference, ECC 1997

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


  • Mechanical systems
  • Nonlinear controllability
  • Underactuated systems


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