Controlled Lagrangians and the Stabilization of
Euler-Poincaré Mechanical Systems
Bloch, A. M., N. E. Leonard and J. E. Marsden
Int. J. Robust Nonlinear Control, 11, 191-214
Abstract:
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.
