Controlled Lagrangians and Stabilization of Euler--Poincar\'e Mechanical Systems with Broken Symmetry I: Kinetic Shaping

DOI10.1137/21M1435458arXiv2003.10584MaRDI QIDQ6337288FDOQ6337288

Publication date: 23 March 2020

Abstract: We extend the method of controlled Lagrangians with kinetic shaping to those mechanical systems on semidirect product Lie groups with broken symmetry, more specifically to the Euler--Poincar'e equations with advected parameters. We find a matching condition for the controlled Lagrangian for such systems whose configuration manifold is a general semidirect product Lie group

m a t h s f G l t i m e s V

. Our motivating examples are a bottom-heavy underwater vehicle and a top spinning on a movable base. Their configuration space is the special Euclidean group

m a t h s f S E (3) = m a t h s f S O (3) l t i m e s m a t h b b R^{3}

, where the

m a t h s f S E (3)

-symmetry is broken by the gravity. The controls resulting from the matching condition stabilize unstable equilibria of these examples. Furthermore, the matching helps us find additional dissipative controls that asymptotically stabilize those unstable equilibria.

Mathematics Subject Classification ID

Stability problems for finite-dimensional Hamiltonian and Lagrangian systems (37J25) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Control/observation systems governed by partial differential equations (93C20) Asymptotic stability in control theory (93D20)

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