Stabilization of relative equilibria for underactuated systems on Riemannian manifolds

被引：39

作者：

Bullo, F

机构：

[1] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA

[2] Univ Illinois, Dept Gen Engn, Urbana, IL 61801 USA

来源：

AUTOMATICA | 2000年 / 36卷 / 12期

关键词：

nonlinear control; mechanical-systems; exponentially stable; differential geometric methods;

D O I：

10.1016/S0005-1098(00)00115-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper 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 damping control are employed to obtain full exponential stabilization of 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. Relevant applications to underwater and aerospace vehicle control are described. (C) 2000 Elsevier Science Ltd. All rights reserved.

引用

页码：1819 / 1834

页数：16

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