Motion Control for Underactuated Mechanical Systems on Lie Groups

F. Bullo and N.E. Leonard

In Proceedings of the European Control Conference, July 1997.


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.

Postscript Version (6 pages postcript)

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