Add to ORKGControl 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. Examples include satellites and underwater vehicles. Under a controllability assumption, we propose two algorithms to compute small amplitude, periodic inputs that achieve arbitrary recon-figurations. 1
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It fi...
In this paper, we extend the popular integral control technique to systems evolving on Lie groups. M...
We consider the optimal control of mechanical systems on Lie groups and develop numerical methods th...
In this paper, we provide controllability tests and motion control algorithms for under-actuated mec...
We present novel algorithms to control underactuated mechanical systems. For a class of invariant sy...
In this dissertation, we study motion control problems in the framework of systems on finite-dimenti...
The deeper investigation of problems of feedback stabilization and constructive controllability has ...
Compared to rich achievements for fully-actuated systems, intrinsic tracking control of underactuate...
In this paper we discuss the control of underactuated mechanical systems. Underactuated mechanical s...
This thesis is devoted to nonlinear control, reduction, and classification of underac-tuated mechani...
A wide range of dynamical systems from fields as diverse as mechanics, electrical networks and molec...
This thesis is devoted to nonlinear control, reduction, and classification of underactuated mechanic...
In this paper we extend our earlier results on the use of periodic forcing and averaging to solve th...
The paper presents a geometrical overview on an optimal control problem on a special Lie group. The ...
We consider under-actuated, drift-free, invariant systems on matrix Lie groups and show how motion c...
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It fi...
In this paper, we extend the popular integral control technique to systems evolving on Lie groups. M...
We consider the optimal control of mechanical systems on Lie groups and develop numerical methods th...
In this paper, we provide controllability tests and motion control algorithms for under-actuated mec...
We present novel algorithms to control underactuated mechanical systems. For a class of invariant sy...
In this dissertation, we study motion control problems in the framework of systems on finite-dimenti...
The deeper investigation of problems of feedback stabilization and constructive controllability has ...
Compared to rich achievements for fully-actuated systems, intrinsic tracking control of underactuate...
In this paper we discuss the control of underactuated mechanical systems. Underactuated mechanical s...
This thesis is devoted to nonlinear control, reduction, and classification of underac-tuated mechani...
A wide range of dynamical systems from fields as diverse as mechanics, electrical networks and molec...
This thesis is devoted to nonlinear control, reduction, and classification of underactuated mechanic...
In this paper we extend our earlier results on the use of periodic forcing and averaging to solve th...
The paper presents a geometrical overview on an optimal control problem on a special Lie group. The ...
We consider under-actuated, drift-free, invariant systems on matrix Lie groups and show how motion c...
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It fi...
In this paper, we extend the popular integral control technique to systems evolving on Lie groups. M...
We consider the optimal control of mechanical systems on Lie groups and develop numerical methods th...