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

Nikolaj Nordkvist; F. Bullo

doi:10.1109/TAC.2008.2007143

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

Nikolaj Nordkvist
, F. Bullo

Research output: Contribution to journal › Journal article › Research › peer-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 language	English
Journal	IEEE Transactions on Automatic Control
Volume	53
Issue number	11
Pages (from-to)	2651-2658
ISSN	0018-9286
DOIs	https://doi.org/10.1109/TAC.2008.2007143
Publication status	Published - Dec 2008

Keywords

Mechanical systems
underactuated systems
relative equilibria
nonlinear control

Access to Document

10.1109/TAC.2008.2007143

OpenUrl availability

Check availability in DTU Findit

Cite this

@article{6f63b083b4bf4cb8a8a9bdd759404127,

title = "Control Algorithms Along Relative Equilibria of Underactuated Lagrangian Systems on Lie Groups",

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.",

keywords = "Mechanical systems, underactuated systems, relative equilibria, nonlinear control",

author = "Nikolaj Nordkvist and F. Bullo",

year = "2008",

month = dec,

doi = "10.1109/TAC.2008.2007143",

language = "English",

volume = "53",

pages = "2651--2658",

journal = "IEEE Transactions on Automatic Control",

issn = "0018-9286",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "11",

}

TY - JOUR

T1 - Control Algorithms Along Relative Equilibria of Underactuated Lagrangian Systems on Lie Groups

AU - Nordkvist, Nikolaj

AU - Bullo, F.

PY - 2008/12

Y1 - 2008/12

N2 - 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.

AB - 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.

KW - Mechanical systems

KW - underactuated systems

KW - relative equilibria

KW - nonlinear control

U2 - 10.1109/TAC.2008.2007143

DO - 10.1109/TAC.2008.2007143

M3 - Journal article

SN - 0018-9286

VL - 53

SP - 2651

EP - 2658

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 11

ER -

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

Abstract

Keywords

Access to Document

OpenUrl availability

Fingerprint

Cite this