Title :
Control algorithms along relative equilibria of underactuated Lagrangian systems on Lie groups
Author :
Nordkvist, Nikolaj ; Bullo, Francesco
Author_Institution :
Tech. Univ. of Denmark, Lyngby
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 :
Lie algebras; Lie groups; acceleration control; motion control; multivariable control systems; perturbation theory; stability; Lie groups; invariant systems; iterative small-amplitude control forces; motion control algorithm design; perturbation analysis; relative equilibrium; stabilization; underactuated Lagrangian systems; underactuated mechanical systems; underactuated planar rigid body; Actuators; Automatic control; Control systems; Force control; Iterative algorithms; Lagrangian functions; Mechanical systems; Satellites; USA Councils; Velocity control;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434093
