Published June 15, 2004
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Journal Article
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Reduction of Controlled Lagrangian and Hamiltonian Systems with Symmetry
- Creators
- Chang, Dong Eui
- Marsden, Jerrold E.
Chicago
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Abstract
We develop reduction theory for controlled Lagrangian and controlled Hamiltonian systems with symmetry. Reduction theory for these systems is needed in a variety of examples, such as a spacecraft with rotors, a heavy top with rotors, and underwater vehicle dynamics. One of our main results shows the equivalence of the method of reduced controlled Lagrangian systems and that of reduced controlled Hamiltonian systems in the case of simple mechanical systems with symmetry.
Additional Information
©2004 Society for Industrial and Applied Mathematics. Received by the editors August 10, 2002; accepted for publication (in revised form) October 23, 2003; published electronically June 15, 2004. This research was partially supported by Caltech and by ONR contract N00014-02-1-0826. The authors thank Hernán Cendra for helpful discussions and the anonymous referees for constructive comments.Files
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Additional details
- Eprint ID
- 9911
- Resolver ID
- CaltechAUTHORS:CHAsiamjco04
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2008-03-26Created from EPrint's datestamp field
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