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.
| Original language | English (US) |
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| Title of host publication | ECC 1997 - European Control Conference |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1830-1835 |
| Number of pages | 6 |
| ISBN (Electronic) | 9783952426906 |
| DOIs | |
| State | Published - Apr 8 1997 |
| Event | 4th European Control Conference, ECC 1997 - Brussels, Belgium Duration: Jul 1 1997 → Jul 4 1997 |
Publication series
| Name | ECC 1997 - European Control Conference |
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Other
| Other | 4th European Control Conference, ECC 1997 |
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| Country/Territory | Belgium |
| City | Brussels |
| Period | 7/1/97 → 7/4/97 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Keywords
- Mechanical systems
- Nonlinear controllability
- Underactuated systems