Dissipation and Controlled Euler-Poincaré Systems
Abstract
The method of controlled Lagrangians is a technique for stabilizing underactuated mechanical systems which involves modifying a system's energy and dynamic structure through feedback. These modifications can obscure the effect of physical dissipation in the closed-loop. For example, generic damping can destabilize an equilibrium which is closed-loop stable for a conservative system model. In this paper, we consider the effect of damping on Euler-Poincaré (special reduced Lagrangian) systems which have been stabilized about an equilibrium using the method of controlled Lagrangians. We describe a choice of feed-back dissipation which asymptotically stabilizes a sub-class of controlled Euler-Poincaré systems subject to physical damping. As an example, we consider intermediate axis rotation of a damped rigid body with a single internal rotor.
Additional Information
© 2001 IEEE. The authors thank Dong Eui Chang for helpful comments. We acknowledge partial support from the NSF, ONR and AFOSR.Attached Files
Published - WoBlLeMa2001a.pdf
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Additional details
- Eprint ID
- 20500
- Resolver ID
- CaltechAUTHORS:20101025-103909189
- NSF
- ONR
- AFOSR
- Created
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2010-11-30Created from EPrint's datestamp field
- Updated
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2021-11-09Created from EPrint's last_modified field
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 7212201