Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups

DOI10.1109/9.871753MaRDI QIDQ2730188zbMATH OpenOpenAlexWikidataFDO

Authors Francesco Bullo, Naomi Ehrich Leonard, Andrew D. Lewis

Publication date 5 August 2001

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.871753

zbMATH Keywords

controllabilityexponential stabilizationLagrangianLie bracketLie groupsmotion control algorithmsplanar rigid bodiespoint-to-point reconfigurationsatellitesmall-amplitude forcingstatic interpolationunderwater vehicle control systemsuneractuated systems

Mathematics Subject Classification ID

Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65) Control of mechanical systems (70Q05) Controllability (93B05) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(28)

• Control of a class of underactuated mechanical systems
• Global \(\kappa \)-exponential asymptotic stabilization of underactuated surface vessels
• Abstractions of Hamiltonian control systems.
• Series expansions for analytic systems linear in control
• Controllability of a class of underactuated mechanical systems with symmetry
• Lie algebraic control for the stabilization of nonlinear multibody system dynamics simulation
• Underactuated control in parallel transported directions: the example of the three dimensional Heisenberg group
• A control theory approach to the analysis and synthesis of the experimentally observed motion primitives
• Asymptotic stabilization with locally semiconcave control Lyapunov functions on general manifolds
• Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group
• A geometric approach to feedback stabilization of nonlinear systems with drift
• Trajectory design for mechanical control systems: from geometry to algorithms
• Tackling mismatched uncertainty in robust constraint-following control of underactuated systems
• Controllability and accessibility results for \(N\)-link horizontal planar manipulators with one unactuated joint
• Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach
• Controllability of an underactuated spacecraft with one thruster under disturbance
• Feedback stabilization of strongly non-linear systems using the CBH formula
• Motion control of drift-free, left-invariant systems on Lie groups
• Geometric interpretations of the symmetric product in affine differential geometry and applications
• Singularity-avoiding swing-up control for underactuated three-link gymnast robot using virtual coupling between control torques
• Stabilisation of a relative equilibrium of an underactuated AUV on \(\mathbf{SE}(3)\)
• Controlling a Submerged Rigid Body: A Geometric Analysis
• Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite Riemannian metric
• On mechanical control systems with nonholonomic constraints and symmetries
• A geometric approach to trajectory design for an autonomous underwater vehicle: surveying the bulbous bow of a ship
• Motion planning for a high order Dubins vehicle
• Some flower-like gaits in the snakeboard locomotion
• Minimum projection method for nonsmooth control Lyapunov function design on general manifolds

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