Stabilization of Relative Equilibria II
Jalnapurkar, S. M. and J. E. Marsden
Regul. Chaotic Dyn., 3, 161-179
Abstract:
In this paper, we obtain feedback laws to asymptotically stabilize relative
equilibria of mechanical systems with symmetry. We use a notion of stability
`modulo the group action' developed by Patrick [1992]. We deal with both
internal instability and with instability of the rigid motion. The
methodology is that of potential shaping, but the system is allowed
to be internally underactuated, i.e., have fewer internal actuators than the
dimension of the shape space.