DocumentCode
343191
Title
Stabilization of relative equilibria for systems on Riemannian manifolds
Author
Bullo, Francesco
Author_Institution
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Volume
3
fYear
1999
fDate
1999
Firstpage
1618
Abstract
Describes a systematic procedure to exponentially stabilize relative equilibria of mechanical systems. We review the notion of relative equilibria and their stability in a Riemannian geometry context. Potential shaping and dissipation are employed to obtain full exponential stabilization to the desired trajectory. Two necessary conditions are that the effective potential be positive definite over a specified subspace and that the system be linearly controllable
Keywords
Lyapunov methods; asymptotic stability; control system synthesis; controllability; geometry; Riemannian geometry; Riemannian manifolds; dissipation; exponential stabilisation; linearly controllable system; mechanical systems; necessary conditions; potential shaping; relative equilibria; Control systems; Convergence; Geometry; Lyapunov method; Manifolds; Mechanical systems; Remotely operated vehicles; Stability; Underwater vehicles; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
Conference_Location
San Diego, CA
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.786104
Filename
786104
Link To Document