Abstract
|If a mechanical system experiences symmetry, the Lagrangian becomes invariant under a certain group action. This property leads to substantial simplification of the description of movement. The standpoint in this article is a mechanical system afected by an external force of a control action. Assuming that the system possesses symmetry and the configuration manifold corresponds to a Lie group, the Euler-Poincare reduction breaks up the motion into separate equations of dynamics and kinematics. This becomes of particular interest for modeling, estimation and control of mechanical systems. A control system generates an external force, which may break the symmetry in the dynamics. This paper shows how to model and to control a mechanical sys- tem on the reduced phase space, such that complete state space asymptotic stabilization can be achieved. The paper comprises a specialization of the well-known Euler-Poincare reduction to a rigid body motion with forcing.
Original language | English |
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Title of host publication | Proceedings of Methods and Models in Automation and Robotics |
Publication date | 2005 |
Publication status | Published - 2005 |
Event | Methods and Models in Automation and Robotics - Miedzyzdroje, Poland Duration: 30 Aug 2004 → 2 Sept 2004 |
Conference
Conference | Methods and Models in Automation and Robotics |
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Country/Territory | Poland |
City | Miedzyzdroje |
Period | 30/08/2004 → 02/09/2004 |
Keywords
- Control of Mechanical Systems
- Differential Geometric Methods
- Attitude Control
- Nonlinear Control