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Published 2000 | Published
Book Section - Chapter Open

Asymptotic stabilization of the heavy top using controlled Lagrangians

Abstract

In this paper we extend the previous work on the asymptotic stabilization of pure Euler-Poincaré mechanical systems using controlled Lagrangians to the study of asymptotic stabilization of Euler-Poincaré mechanical systems such as the heavy top.

Additional Information

© 2000 IEEE. Research partially supported by AFOSR contract F49620-99- 1-0190. We thank Tony Bloch, Naomi Leonard, Tudor Ratiu, Troy Smith and Craig Woolsey for helpful comments.

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