Controlled Lagrangians and Stabilization of Euler--Poincaré Mechanical Systems with Broken Symmetry I: Kinetic Shaping
DOI10.1137/21M1435458zbMath1503.93036MaRDI QIDQ5103923
Tomoki Ohsawa, César Contreras
Publication date: 9 September 2022
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
stabilizationsemidirect productbroken symmetrycontrolled LagrangiansEuler-Poincaré mechanical systems
Control/observation systems governed by partial differential equations (93C20) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Stability problems for finite-dimensional Hamiltonian and Lagrangian systems (37J25)
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