Title :
Asymptotic stabilization of the heavy top using controlled Lagrangians
Author :
Chang, Dong Eui ; Marsden, Jerrold E.
Author_Institution :
Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
We extend previous work on the asymptotic stabilization of pure Euler-Poincare mechanical systems using controlled Lagrangians to the study of asymptotic stabilization of Euler-Poincare mechanical systems such as the heavy top
Keywords :
asymptotic stability; motion control; asymptotic stabilization; controlled Lagrangians; heavy top; pure Euler-Poincare mechanical systems; Control systems; Control theory; Equations; Lagrangian functions; Lyapunov method; Mechanical systems; Rotors; Satellites; Shape control; Spinning;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912771
