Control and maintenance of fully-constrained and underconstrained rigid body motion on Lie groups and their tangent bundles (Q2128978)

In this article, the authors study multiple topics in constrained motion of rigid bodies within the geometric mechanics framework. The Udwadia-Kalaba (U-K) formulation for constrained motion analysis is extended to rigid body control on six-dimensional Euclidean space and the double tangent bundle of special Euclidean group. Based on this formulation, the article includes both full and underconstrained case studies, and concludes that the constraint accelerations minimize the Gaussians on each space and are identical between spaces. In addition, in order to capture disturbed initial conditions and drive the system to constraint satisfaction where the U-K formulation could then determine constraint accelerations, the authors extend a devised Morse-Lyapunov (M-L) based controller to treat tracking control. The authors conclude that the fully-constrained rigid body motion could effectively be treated on both the Euclidean spaces and nonlinear manifolds and their tangent bundles.