Stabilization of relative equilibria

被引：19

作者：

Jalnapurkar, SM ^{[1
]}

Marsden, JE

机构：

[1] Univ Calif Berkeley, Dept Math, Berkeley, CA 94720 USA

[2] CALTECH, Pasadena, CA 91125 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 08期

关键词：

mechanics; relative equilibria; stabilization;

D O I：

10.1109/9.871756

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 discusses the problem of obtaining feedback laws to asymptotically stabilize relative equilibria of mechanical systems with symmetry We show how to stabilize an internally unstable relative equilibrium using internal actuators. The methodology is that of potential shaping, but the system is allowed to be underactuated, i,e,, have fewer actuators than the dimension of the shape space. The theory is illustrated with the problem of stabilization of the cowboy relative equilibrium of the double spherical pendulum.

引用

页码：1483 / 1491

页数：9

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