Drift-free Left Invariant Control System on G4 with Fewer Controls than State Variables

Motion Control of Drift - Free , Left - Invariant Systems on Lie Groups , Part II : A General Constructive Control Algorithm

In this paper we address the constructive controllability problem for drift-free, leftinvariant systems on nite-dimensional Lie groups with fewer controls than state dimension. We consider small ( ) amplitude, low-frequency, periodically time-varying controls and derive average solutions for system behavior. We show how the pth-order average formula can be used to construct open-loop controls f...

Motion Control of Drift - Free , Left - Invariant Systems on Lie Groups

In this paper we address the constructive controllability problem for drift-free, leftinvariant systems on nite-dimensional Lie groups with fewer controls than state dimension. We consider small ( ) amplitude, low-frequency, periodically time-varying controls and derive average solutions for system behavior. We show how the pth-order average formula can be used to construct open-loop controls f...

Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection

Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...

An Underactuated Drift-Free Left Invariant Control System on a Specific Lie Group

Performance-Based Plastic Design of Moment Frame-Steel Plate Shear Wall as a Dual System

Steel Plate Shear Wall (SPSW) is an emerging seismic load-resistant system that, compared to other systems, enjoys the advantages of stable ductile behavior, fewer detailing requirements, rapid constructability, and economy. American seismic provisions decree that a SPSW should be designed as a moment frame with a web infill plate. Specifically, in case of buildings taller than 160 ft, it decre...