Stabilization of relative equilibria for underactuated systems on Riemannian manifolds

✍ Scribed by Francesco Bullo

• Publisher: Elsevier Science
• Year: 2000
• Tongue: English
• Weight: 312 KB
• Volume: 36
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/s0005-1098(00)00115-1

✦ Synopsis

Steady motions of mechanical systems with symmetry are stabilized via a potential shaping and damping control. A general methodology based on Riemannian geometry tools provides exponential stabilization over the full phase space.