Controlled Lagrangians and the stabilization of Euler–Poincaré mechanical systems
Controlled Lagrangians and the stabilization of Euler–Poincaré mechanical systems
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DOI：
10.1002/rnc.572
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发表时间：
2001-03
影响因子：
3.9
通讯作者：
A. Bloch;Naomi Ehrich Leonard;J. Marsden
中科院分区：
文献类型：
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作者：
A. Bloch;Naomi Ehrich Leonard;J. Marsden
在本文中，我们开发了一个建设性的方法来确定稳定的控制律的一类拉格朗日力学系统的对称性-系统的基本动力学是由Euler-Poincaré方程。这一工作扩展了我们以前的工作的机械控制系统的稳定使用的方法控制拉格朗日。我们的方法背后的指导原则是开发一类稳定反馈控制律，这些控制律产生保持拉格朗日形式的闭环动力学。利用欧拉-庞加莱系统的方法，我们分析了卫星和水下机器人控制的动量轮的稳定性。版权所有© 2001约翰威利父子有限公司
In this paper we develop a constructive approach to the determination of stabilizing control laws for a class of Lagrangian mechanical systems with symmetry — systems whose underlying dynamics are governed by the Euler–Poincaré equations. This work extends our previous work on the stabilization of mechanical control systems using the method of controlled Lagrangians. The guiding principle behind our methodology is to develop a class of stabilizing feedback control laws which yield closed‐loop dynamics that remain in Lagrangian form. Using the methodology for Euler–Poincaré systems, we analyse stabilization of a satellite and an underwater vehicle controlled with momentum wheels. Copyright © 2001 John Wiley & Sons, Ltd.