Stabilization of relative equilibria

Jalnapurkar S.M.; Marsden J.E.

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Stabilization of relative equilibria

机译：相对平衡的稳定

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Discusses the problem of obtaining feedback laws to asymptotically stabilize relative equilibria of mechanical systems with symmetry. We show how to stabilize an internally unstable relative equilibrium using internal actuators. The methodology is that of potential shaping, but the system is allowed to be underactuated, i.e., have fewer actuators than the dimension of the shape space. The theory is illustrated with the problem of stabilization of the cowboy relative equilibrium of the double spherical pendulum

机译：讨论了获得反馈定律以渐近稳定具有对称性的机械系统的相对平衡的问题。我们展示了如何使用内部执行器来稳定内部不稳定的相对平衡。该方法是潜在整形的方法，但是该系统被允许欠驱动，即，具有比形状空间的尺寸少的致动器。用双球摆的牛仔相对平衡的稳定性问题来说明该理论

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《IEEE Transactions on Automatic Control》 |2000年第8期|p.1483-1491|共9页
作者
Jalnapurkar S.M.; Marsden J.E.;
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正文语种 eng
中图分类自动化系统;
关键词
Lie groups; asymptotic stability; controllability; feedback; matrix algebra; set theory; double spherical pendulum; feedback laws; internal actuators; mechanical systems; potential shaping; relative equilibria;

机译：李群;渐近稳定性;可控制性;反馈;矩阵代数;集合论;双球摆;反馈律;内部执行器;机械系统;电位整形;相对平衡;

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Stabilization of relative equilibria

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