Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups

DOI10.1109/9.871753zbMath0990.70019OpenAlexW2120851686WikidataQ115267856 ScholiaQ115267856MaRDI QIDQ2730188

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

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

satellite controllability Lie groups exponential stabilization Lagrangian Lie bracket motion control algorithms planar rigid bodies point-to-point reconfiguration small-amplitude forcing static interpolation underwater vehicle control systems uneractuated systems

Mathematics Subject Classification ID

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

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