Motion Control for Underactuated Mechanical Systems on Lie Groups
F. Bullo and N.E. Leonard
In
Proceedings of the European Control Conference,
July 1997.
Abstract
Control design for underactuated mechanical systems is an active
area of research. In this paper we focus on mechanical control
systems defined on Lie groups with the Lagrangian equal to kinetic
energy. Under a controllability assumption, we propose two
algorithms to compute small amplitude, periodic inputs that achieve
arbitrary reconfigurations.
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