Dissipation and Controlled Euler-Poincaré Systems
نویسندگان
چکیده
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 feedback 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.
منابع مشابه
Asymptotic Stabilization of Euler-poincaré Mechanical Systems
Stabilization of mechanical control systems by the method of controlled Lagrangians and matching is used to analyze asymptotic stabilization of systems whose underlying dynamics are governed by the Euler-Poincaré equations. In particular, we analyze asymptotic stabilization of a satellite. Copyright c © 2000 IFAC
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