Control Algorithms Along Relative Equilibria of Underactuated Lagrangian Systems on Lie Groups

Nikolaj Nordkvist, F. Bullo

    Research output: Contribution to journalJournal articleResearchpeer-review

    Abstract

    We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation analysis and the design of inversion primitives and composition methods. We illustrate the algorithms on an underactuated planar rigid body and on a satellite with two thrusters.
    Original languageEnglish
    JournalIEEE Transactions on Automatic Control
    Volume53
    Issue number11
    Pages (from-to)2651-2658
    ISSN0018-9286
    DOIs
    Publication statusPublished - Dec 2008

    Keywords

    • Mechanical systems
    • underactuated systems
    • relative equilibria
    • nonlinear control

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